ge fanuc automation fanuc powermotion ® α and β series servo reliability the α and β series...

GE Fanuc Automation

PowerMotion Products

Servo Product Specification Guide

GFH – 001B September 1998

NoticeThis document is based on information available at the time of its publication. While efforts have beenmade to be accurate, the information contained herein does not purport to cover all details or variationsin hardware or software, nor to provide or every possible contingency in connection with installation,operation, or maintenance. Features may be described herein which are not present in all hardware andsoftware systems. GE Fanuc Automation assumes no obligation of notice to holders of this documentwith respect to changes subsequently made.

GE Fanuc Automation makes no representation or warranty, expressed, implied, or statutory withrespect to, and assumes no responsibility for the accuracy, completeness, sufficiency, or usefulness ofthe information contained herein. No warranties of merchantability or fitness for purpose shall apply.

©Copyright 1998 GE Fanuc Automation North America, Inc.All Rights Reserved.

CONTENTS

Part I: α Series Servo System

SECTION 1: α SVU Series Servo System Block Diagram ...................................................................5

SECTION 2: α Series Servo Pr oduct O verview ...................................................................................6

2.1 α Series Motors.............................................................................................................................6 2.2 α Series Motor Speed-Torque Curves..............................................................................................7 2.3 α Series Motor Holding Brake........................................................................................................8 2.4 α SVU Series Servo Amplifiers .....................................................................................................9

SECTION 3: α Series Servo System Specificat ions..........................................................................10

SECTION 4: α Servo System Opt ions................................................................................................11

4.1 IP67 Sealing Option on α Series Servo Motors.............................................................................124.2 Absolute Encoder Battery Packs...................................................................................................13

SECTION 5: Installation Guidelines ............................................................................................. ......14

5.1 Motor Environmental Requirements .............................................................................................145.2 α Servo Amplifier Environmental Requirements...........................................................................145.3 α SVU Series servo amplifier heat Dissipation .............................................................................155.4 α Series Motor Dimensions ..........................................................................................................16

5.4.1 α6/3000 .................................................................................................................................165.4.2 α6/3000 with brake, side view ................................................................................................175.4.3 α12/3000, α22/2000, and α30/3000, front view ......................................................................185.4.4 α12/3000, α22/2000, and α30/3000, side view .......................................................................195.4.5 α12/3000, α22/2000, and α30/3000 with brake, side view ......................................................205.4.6 α40/2000 with fan, front and rear views..................................................................................215.4.7 α40/2000 with fan, top and side views....................................................................................225.4.8 α40/2000 with fan and brake, top and side views ...................................................................23

5.5 Shaft Loading...............................................................................................................................245.6 α SVU1 Series Amplifier and Panel Cutout Dimensions ...............................................................25

5.6.1 α SVU1-80 and SVU1-130 dimension drawings ....................................................................25 5.6.2 α SVU1-80 and SVU1-130 panel cutout drawings .................................................................27

5.7 α SVU Series Switch Settings ......................................................................................................285.8 Noise Protection...........................................................................................................................29

5.8.1 Separation of Signal and Power Lines....................................................................................295.8.2 Grounding..............................................................................................................................29

5.9 Command Cable Grounding.........................................................................................................305.10 Selecting a ground fault interrupter.............................................................................................31

SECTION 6: Servo System Power Re quirements .............................................................................32

6.1 Power Line Protection ..................................................................................................................326.2 AC Line Filter ...............................................................................................................................326.3 Circuit Breaker Selection..............................................................................................................346.4 Electromagnetic Contactor (MCC) Rating.....................................................................................346.5 Incoming AC power ......................................................................................................................35

6.5.1 AC Power Ratings..................................................................................................................356.6 Discharging Regenerative Energy ................................................................................................36

6.6.1 Calculating the Average Regenerative Energy........................................................................366.6.2 Regenerative discharge unit dimensions ................................................................................406.6.3 Regenerative discharge unit panel cutout dimensions.............................................................42

SECTION 7: α Servo System C onnection...........................................................................................43

7.1 α SVU1 Amplifier Connections.....................................................................................................437.2 α System Connections .................................................................................................................447.3 α Servo Connection Diagram .......................................................................................................467.4 Connection Details .......................................................................................................................47

SECTION 8: α SVU Series Protection and Al arm Functions .............................................................59

Part II: β Series Servo System

SECTION 9: β Servo System Block Diagram ......................................................................................63

SECTION 10: β Series Servo Pr oduct O verview ................................................................................64

10.1 β Series Motors ..........................................................................................................................6410.2 β Series Motor Speed-Torque Curves............................................................................................6510.3 β Series Motor Holding Brake.....................................................................................................6610.4 β Series Servo Amplifiers...........................................................................................................67

SECTION 11: β Series Servo System Specificat ions.........................................................................68

SECTION 12: β Servo System Opt ions...............................................................................................69

12.1 Absolute Encoder Battery Packs.................................................................................................70

SECTION 13: Installation Guidelines............................................................................................ ......71

13.1 Motor Environmental Requirements ...........................................................................................7113.2 β Servo Amplifier Environmental Requirements .........................................................................7113.3 β Servo Amplifier Heat Dissipation and Maintenance Clearances...............................................7213.4 β Series Motor Dimensions.........................................................................................................73

13.4.1 β0.5/3000 Motor, front and side views..................................................................................7313.4.2 β2/3000, β6/2000, and αC12/2000 motors, front view ..........................................................7413.4.3 β2/3000, β6/2000, and αC12/2000 motors, side view ...........................................................7513.4.4 β2/3000, β6/2000, and αC12/2000 motors with brake...........................................................76

13.5 Shaft Loading.............................................................................................................................7713.6 β Series Amplifiers DIMENSIONS..............................................................................................7813.7 Noise Protection.........................................................................................................................79

13.7.1 Separation of Signal and Power Lines ..................................................................................7913.7.2 Grounding ............................................................................................................................79

13.8 Command Cable Grounding .......................................................................................................8013.9 Selecting a Ground Fault Interrupter...........................................................................................81

SECTION 14: β Servo System Power Re quirements .........................................................................82

14.1 Power Line Protection ................................................................................................................8214.2 AC Line Filter .............................................................................................................................8214.3 Circuit Breaker Selection............................................................................................................8314.4 Electromagnetic Contactor Rating ..............................................................................................8314.5 Incoming AC power ....................................................................................................................84

14.5.1 AC Power Ratings................................................................................................................8414.6 Incoming DC Power....................................................................................................................8514.7 Discharging Regenerative Energy ..............................................................................................85

14.7.1 Calculating the Average Regenerative Energy......................................................................86

SECTION 15: β Servo System C onnection.........................................................................................88

15.1 System Connections...................................................................................................................8815.2 β Connection Diagram................................................................................................................9015.3 Connection Details .....................................................................................................................9115.4 β Series Amplifier Protection and Alarm Functions...................................................................105

GE FanucPower Mot ion ®

αα and ββ Series Serv o

RELIABILITY

The α and β Series Servo systems offer highreliability and performance. In addition, highspeed serial encoders and high efficiencyIntegrated Power Modules further enhance theperformance of the servo systems.

The servo systems’ digital control loops(current, velocity, and position) are closed inthe controller. This feature reduces setup timeand delivers significant performance gainseven in the most challenging applications.

FEATURES

Additional features of the servo systemsinclude the following:

The systems’ plug-and-play connectivitymakes them cost-effective to integrateand maintain.

The all-digital systems provide thegreatest possible stability in a changingenvironment.

There are no “personality” modules.

The servos have a broad applicationrange including a wide load inertia range,flexible acceleration/deceleration, andposition feedback configurations.

Extensive software customization featuresare available to optimize performance andovercome machine limitations.

α AND β SERVO MOTORS

The α and β Series Servo motors offersuperior performance with reduced size andcost.

The β Series motors feature a new insulationsystem on the windings and an overall sealingcoating help protect the motor from theenvironment.

The α and β Series motors conform tointernational IEC standards. A motorprotection level of IP65 is standard with all αand β Series motors, and optional IP67sealing is available on α Series motors.Torque ratings of 0.5, 2, 6, and 12 Nm areavailable on β Series motors, and torqueratings of 6, 12, 22, 30, and 40 Nm areavailable on α Series motors.

A 32K counts /revolution absolute modedigital encoder is standard with each β Seriesservo motor. A 64K absolute encoder isstandard on α Series motors. An optionalelectrically released holding brake is alsoavailable on all α and β Series motors.

α AND β AMPLIFIERS

The α and β Series Servo amplifiers integratea power supply with the PWM switchingcircuitry, making the amplifier compact andvery efficient. The amplifier is built toconform to these international standards:

European CE (EMC and Low Voltagedirectives)

IEC Standards

UL/CUL on α Series

PULSE WIDTH MODULATEDINTERFACE

The Pulse Width Modulated (PWM) interfaceuses the standard GE Fanuc digital servocommunication protocol.

The α and β Series amplifiers cancommunicate with a wide variety of GE Fanuccontrollers, including the Power Mate D,Power Mate H, and DSM 300 Series, plusmany of the GE Fanuc CNC systems.

This page intentionally left blank.

Part I:α ServoSystem

α and β Series Servo Pr oduct Specifications Guide

4 Part I: α Series Servo System


Product Overview 5

Section 1: α SVU Series Servo System Block DiagramThe following block diagram shows the interconnections of a typical α Series servo system:

Figure 1. α SVU Series servo block diagram

NOTE

The 200–240 VAC control power inputs are jumpered to the three-phasebus power inputs (L1C to L1 and L2C to L2) when delivered from thefactory. If a separate control power source is desired to maintain alarmstatus during E-stop removal of main bus power, remove the jumperlinks and connect the separate control power.

MasterEncoder

Position,Velocity, and

Current Loops

(Controller)Command

SignalConnection

AbsoluteEncoderBattery

Option

Connector

Motor Encoder Feedback Connection

200-240 VAC 3-Phase

DischargeResistor

α SeriesAmplifier

200–240 VAC1-phase control power

MotorPower

Connection

Motor

90VDC

M Encoder

Line Filter orTransformer

Brake

Required



Section 2: α Series Servo Product Overview2.1 α SERIES MOTORS

The α Series servo motors include built-in serial encoders with 64K PPR (pulses per revolution)resolution. All α Series motors are available with an optional holding brake, and most are available withan optional IP67 sealing. A fan package is standard on the α40/2000 servo motor. The servo motorsmust be used with the designated amplifier package and a GE Fanuc motion controller such as theMotion Mate DSM300 Series.

Table 1 provides a summary of the α Series servos. See Section 3 for more detailed motorspecifications.

Table 1. α Series Servo Motors

Motor Rated Torque PowerRating

RequiredAmplifier Kit

Motor Catalog #

α6/3000 6 Nm (53 in-lbs)continuous stall

torque; 3000 RPM(max)

1.4 kW 80 Amp(IC800APK080)

Motor Only: A06B-0128-B575#7008

w/ IP67 Sealing: A06B-0128-B575#7076

w/ Brake: A06B-0128-B675#7008

w/ IP67 Sealing & Brake: A06B-0128-B675#7076



2.8 kW 80 Amp(IC800APK080)

Motor Only: A06B-0143-B075#7008

w/ IP67 Sealing: A06B-0143-B075#7076

w/ Brake: A06B-0143-B175#7008




3.7 kW 80 Amp(IC800APK080)

Motor Only: A06B-0147-B075#7008

w/ IP67 Sealing: A06B-0147-B075#7076

w/ Brake: A06B-0147-B175#7008




5.2 kW 130 Amp(IC800APK130)

Motor Only: A06B-0153-B075#7008

w/ IP67 Sealing: A06B-0153-B075#7076

w/ Brake: A06B-0153-B175#7008


α40/2000w/ fan

package

40 Nm (494 in-lbs)continuous stall


7.2 kW 130 Amp(IC800APK130)

Motor w/ Fan Package: A06B-0158-B075#7008

w/ Fan Package & Brake: A06B-0158-B175#7008


Part I: α Series Servo System 7

2.2 α SERIES MOTOR –TORQUE CURVES

The curves shown below illustrate the relationship between the speed of the motor and the output torque.The motor can operate continuously at any combination of speed and torque within the prescribedcontinuous operating zone. The limit of the continuous operating zone is determined with the motor’sambient temperature at 40°C and its drive current as pure sine wave. Actual operation is limited by thecurrent of the servo drive unit.

α6/3000 α12/3000

0

5

10

15

20

25

30

0 1000 2000 3000 4000

Speed (RPM)

Torque(Nm)

Speed (RPM)

Torque(Nm)

0 5

10

15

20

25

0 1000 2000 3000

30

35

40

α22/2000 α30/3000

80

60

40

20

00 1000 2000 3000

Speed (RPM)

Torque(Nm)

010

20

30

40

50

0 1000 2000 3000

Speed (RPM)

Torque(Nm)

60

70

80

90

α40/2000

0

25

50

75

100

125

150

0 500 1000 1500 2000

Speed (RPM)

Torque(Nm)

Figure 2. α Series motor speed-torque curves

KEY: - - - - = Intermittent operating

= Continuous op erating



2.3 α SERIES MOTOR HOLDING BRAKE

Any of the servo motors can be ordered with a holding brake. The brake is used to prevent movementon horizontal axes or falling along the vertical axis when the servo motor control is turned off.

Brakes are spring-set and electrically released and are designed for holding stationary loads only. Usingthe holding brake to stop a moving axis may damage the motor or severely reduce its service life.

The specifications of the built-in brakes are listed in Table 2:

Table 2. Brake specifications

SERVO PACKAGE

Parameter α6/3000 α12/2000 α22/2000 α30/3000 α40/2000

Brake torque 71 in-lb8 Nm82 kgf-cm

310 in-lb35 Nm357 kgf-cm




Release ResponseTime

80 msec 150 msec 150 msec 150 msec 150 msec

Brake ResponseTime

40 msec 20 msec 20 msec 20 msec 20 msec

Supply Voltage andCurrent

90 VDC (±10%)0.4 A or less

90 VDC (±10%)0.6 A or less

90 VDC (±10%)0.6 A or less

90 VDC (±10%)0.6 A or less

90 VDC (±10%)0.6 A or less

Weight Increase Approx. 5 lbApprox. 2.3 kg

Approx. 13.8 lbApprox. 6.3 kg



Approx. 22 lbApprox. 10 kg

Inertia Increase 0.00061 in-lb-s2

0.00007 kg m2

0.0007 kgf-cm-s2

0.0052 in-lb-s2

0.0006 kg m2

0.006 kgf-cm-s2

0.0052 in-lb-s2

0.0006 kg m2

0.006 kgf-cm-s2

0.0052 in-lb-s2

0.0006 kg m2

0.006 kgf-cm-s2

0.0087 in-lb-s2

0.0010 kg m2

0.010 kgf-cm-s2

An example of a typical user-supplied brake power supply is shown below:

Customer's Control Cabinet

100VAC500Ω/0.2µF

Surge Suppressor

Full-Wave Rectifier

Motor

BrakeCoil

Ground

Motor Frame

A

B

C

A

B

CMotor Brake Connector

3102 10SL-3P (GE Fanuc P/N: 44A730464-G26)

Brake Power Supply

Figure 3. Typical user-supplied brake power supply



2.4 α SVU SERIES SERVO AMPLIFIERS

The α SVU Series amplifiers must be matched to the corresponding α Series motor. Because motorcharacteristics are closely related to amplifier ratings, GE Fanuc restricts the allowable motor/amplifiercombinations to those shown in Table 3 below.

GE Fanuc offers α SVU Series amplifiers either separately, for replacement and spare parts, or aspreconfigured packages that include the connectors and spare fuses necessary for most newinstallations. The catalog numbers for both options and package contents are shown in the followingtables.

Table 3. α SVU Series models

Motor Amplifier Model Amplifier Catalog # Amplifier P ackage Cata log #

α6/3000 SVU1-80 A06B-6089-H105 IC800APK080

α12/3000 SVU1-80 A06B-6089-H105 IC800APK080

α22/2000 SVU1-80 A06B-6089-H105 IC800APK080

α30/3000 SVU1-130 A06B-6089-H106 IC800APK130

α40/2000 SVU1-130 A06B-6089-H106 IC800APK130

Table 4. α SVU Series packages

Description Package Contents* Cata log #

80 Ampα Series Amplifier

Package

• 1 SVU1-80 Amp (A06B-6093-H105)• 1 Fuse (A06B-6089-K250)• 1 External MCC Connector (A06B-6089-K201)• 1 E-Stop Connector (A02B-0120-K321)

IC800APK080

130 Ampα Series Amplifier

Package

• 1 SVU1-130 Amp (A06B-6093-H106)• 1 External MCC Connector (A06B-6089-K201)• 1 E-Stop Connector (A02B-0120-K321)• 2 Fuses (A06B-6089-K250)

IC800APK130

* If required, amplifier package components can be ordered separately.



Section 3: α Series Servo SystemThe α Series Servo system consists of a motor and its corresponding amplifier. GE Fanuc offers severalservo systems, which are identified in Table 5 below.

Table 5. Identification of servo systems

SERVO SYSTEM

Parameter (Unit) α6/3000 α12/3000 α22/2000 α30/3000 α40/2000(w/fan)

MOTORRated output power (kW) 1.4 2.8 3.8 4.8 7.3

Rated torque at stall (Nm) *

Rated torque at stall (in-lb) *

Rated torque at stall (kgf-cm) *

6.0

53

61

12

106

122

22

195

225

30

265

306

56

495

571

Rated output speed (RPM) 4000 3000 2000 3000 2000

Rotor inertia (kg m2)

Rotor inertia (in-lb-s2)

Rotor inertia (kg-cm-s2)

0.0026

0.0174

0.027

0.0062

0.0555

0.064

0.012

0.1041

0.12

0.017

0.1475

0.17

0.022

0.1996

0.23

Continuous RMS current at stall A (rms) 10.0 15.5 18.7 33.7 40.1

Torque constant (Nm/A [rms]) *

Torque constant (in-lb/A [rms]) *

Torque constant (kgf-cm/A [rms]) *

0.60

5.3

6.1

0.77

6.8

7.9

1.17

10.4

12.0

0.89

7.9

9.1

1.40

12.4

14.3

Back EMF constant (V/1000 RPM) *

Back EMF constant (Vsec/rad) *

21

0.20

27

0.26

41

0.39

31

0.30

49

0.47

Armature resistance (Ω) * 0.18 0.17 0.140 0.046 0.080

Mechanical time constant (s) * 0.004 0.005 0.004 0.003 0.003

Thermal time constant (min) 50 60 65 70 30

Static friction (Nm)

Static friction (in-lb)

Static friction (kgf-cm)

0.3

2.7

3

0.8

7.1

8

1.2

10.6

12

1.8

15.9

18

1.8

15.9

18

Maximum allowable current (A [peak]) 132 120 160 320 270

Maximum theoretical torque (Nm) **

Maximum theoretical torque (in-lb) **

Maximum theoretical torque (kgf-cm) **

56

496

571

66

584

670

130

1150

1400

200

1770

2100

270

2390

2800

Weight (kg)

Weight (lb)

13

28.6

18

39.6

29

63.8

41

90.2

55

121

AMPLIFIERAmplifier model SVU1-80 SVU1-80 SVU1-80 SVU1-130 SVU1-130

Rated output current (rms amps) 18.7 18.7 18.7 52.2 52.2

Current limit (Peak amps) 80 80 80 130 130

Heat loss (watts) 37.7 47.3 54 70.9 80.7

230 VAC 1φ control power current (A) 0.13 0.13 0.13 0.26 0.26

Weight (kg)

Weight (lb)

4.9

10.8

4.9

10.8

4.9

10.8

9.9

21.8

9.9

21.8

* These values are standard values at 20°C with a tolerance of ±10%. The speed-torque characteristics vary, depending on the type of software, parameter setting, andinput voltage of the digital servo amplifier. (The above figures show average values.) These values may be changed without prior notice.

** Theoretical values. The actual maximum torque is restricted by the current limit values of the drive amplifier.



Section 4: α Servo System Options Designing a servo control system requires that you understand how the electrical and mechanicalaspects of your system interact. GE Fanuc application engineers are available to help you determineyour control system requirements.

Table 6 will help you select which servo options your system requires. Further details for each option arelocated in the sections indicated.

Table 6. α Series servo package options

Servo Option Consider Selecting When Catalog # Section #

Motor HoldingBrake

the system design includes an axis that must hold itsposition when power is removed

Motor option (seep. 6 for motorcatalog #)

2.3

IP67 Sealing to enable the motor to meet IEC standards for protectionfrom solid objects and water

Motor option (seep. 6 for motorcatalog #)

4.1

Absolute EncoderBattery Packs

you would like to avoid having to re-reference theposition when power is restored to the control

IC800ABK001 4.2

AC Line Filters 200—240 VAC is already available to the control cabinetand no transformer is used. Line filters reduce harmonicnoise into the servo power supply.

5.4 kW, 3-phase:A81L-0001-0083#3C

10.5 kW, 3-phase:A81L-0001-0101#C

6.2

Prefinished Cables the cable lengths available from GE Fanuc areappropriate for your application

Refer to the “CableConnection” tableon p. 45

7.2

External DischargeResistor

The internal regenerative discharge resistor isinsufficient for the application. If required, the regenresistor must be ordered separately.

16 Ohm 200 Watt:A06B-6089-H500

16 Ohm 800 Watt:A06B-6089-H713

8 Ohm 800 Watt:A06B-6089-H711

6.6



4.1 IP67 SEALING OPTION ON α SERIES SERVO MOTORS

Most of the α Series servo motors can be ordered with IP67 Sealing. Motors with the IP67 Sealing meetthe IEC standards regarding protection from solid objects and water, as described below:

Standard IP6 x: Protection from Solid Objects

Protected against solid objects greater than 1 mm thickness or diameter

Dust tight. “No ingress of dust.”

Standard IP x7: Protection from Water

Protected against dripping water, rate equivalent to 3–5 mm of rain per minute

Protected against splashing water from any direction

Protected from harmful damage due to water jets, according to the following test:

• Spray from all angles of 12.5 liters/minute (3.3 gal/min)• Nozzle diameter = 6.3 mm (0.248 in)• Pressure = 30 kN/m2 (0.3 bar)• Distance = 3 m (118 in)• Duration = 3 minutes

Protected from harmful Protected against the effects of immersion, according to the following test:

• Surface of the water level shall be at least 150 mm (5.9 in) above the highest point of the machine

• Lowest point of the machine must be at least 1 m (39.4 in) below the surface of the water• Duration of the test must be at least 30 minutes• Water temperature must not differ from that of the machine by more than 5° C

For more information, refer to CEI/IEC 34–5; 1991 and the GE Fanuc document Servo and SpindleMotors Exposed to Liquids (GFK-1046).



4.2 ABSOLUTE ENCODER BATTERY PACKS

All α Series servo motors feature a built-in serial encoder that can be used in either incremental orabsolute mode. In order to utilize the absolute capability, an optional encoder battery pack(IC800ABK001) must be installed. This pack makes the encoder’s position information non-volatile sothat the machine does not need to be re-referenced to a home position every time power is restored tothe servo system.

The Absolute Encoder Battery Kit (IC800ABK001) contains the following:

One battery holder (A06B-6050-K060)

Four D-cell, alkaline batteries (A98L-0031-0005)

One kit provides battery backup for up to four absolute encoders. A two-meter-long cable(44C741863-001) must be ordered separately for each servo axis connected to the battery pack. Kitcomponents cannot be ordered separately.

The battery pack is panel-mounted and requires a cutout in the mounting surface. Mounting dimensionsand terminal designations are shown below:

Figure 4. Absolute encoder battery pack

78(3.07)

93(3.66)

103(4.06)

103(4.06)

78(3.07)

40(1.57) 106.3

(4.185)

92.2(3.630)

AB C

D

E

A 3-M3 negative terminalB Negative terminal indicationC Positive terminal indicationD 3-M3 positive terminalE 4-∅4.3 (0.169) mounting holes

All dimensions in mm (in)



Section 5: Installation GuidelinesThis section includes environmental requirements, motor and amplifier dimension drawings andinformation on ensuring noise protection and selecting a ground fault interrupter.

5.1 MOTOR ENVIRONMENTAL REQUIREMENTS

The servo motor must be installed in a location that satisfies the following environmental conditions:

Table 7. Servo amplifier environmental conditions

Condition Description

Ambient temperature The ambient temperature should be -10°C to 40°C. When operating the machine ata temperature higher than 40°C (55°C max), it is necessary to derate the outputpower so that the motor’s temperature rating is not exceeded.

Vibration When installed in a machine, the vibration applied to the motor must not exceed 5G.

Altitude No more than 1,000 m (3,300 ft) above sea level.

Drip-Proof Environment The motors have a drip-proof structure that complies with IP65 of the IEC standard.Optional IP67 Sealing, available on most α Series servo motors, offers furtherprotection from liquids (see Section 4.1 for more details). Nevertheless, to ensurelong-term performance, the motor surface should be protected from solvents,lubricants, and fluid spray. A cover should be used when there is a possibility ofwetting the motor surface. Also, to prevent fluid from being led to the motor throughthe cable, put a drip loop in the cable when the motor is mounted. Finally, turn themotor connector sideways or downward as far as possible. If the cable connectorwill be subjected to moisture, it is recommended that an R class or waterproof plugbe used.

For additional information, see GE Fanuc publication Servo and Spindle Motors Exposed to Liquids,GFK-1046.

5.2 SERVO AMPLIFIER ENVIRONMENTAL REQUIREMENTS

The servo amplifier must be installed in a location that satisfies the environmental conditions identified inTable 8 below.



Ambient temperature 0°C to 55°C (operating).

-20°C to 60°C (storage and transportation).

Temperature fluctuation Within 1.1°C/min.

Humidity 30% to 95% RH (no condensation).

Altitude No more than 1000 m (3,300 ft) above sea level.

Vibration No more than 0.5 G during operation.

Atmosphere The circuitry and heat sink must not be exposed to anycorrosive and conductive vapor or liquid.

The amplifier must be installed in a cabinet that protects it from contaminants such as dust, coolant,organic solvents, acid, corrosive gas, and salt. Adequate protection must also be provided forapplications where the amplifier could be exposed to radiation, such as microwave, ultraviolet, laserlight, or x-rays.



In order to adequately protect the amplifier, you must ensure that:

Contaminants such as dust and coolant, cannot enter through the air inlet or outlet.

The flow of cooling air is not obstructed.

The amplifier can be accessed for inspection.

The amplifier can be disassembled for maintenance and later reinstalled.

There is sufficient separation between the power and signal lines to avoid interference. Noiseprotection should be provided.

5.3 α SVU SERIES SERVO AMPLIFIER HEAT DISSIPATION

To determine the heat generated by an α Series SVU amplifier with a particular motor, use the table thatfollows. The α SVU Series amplifiers are mounted with their heat sink extending through a panel cut outin the control enclosure. This design eliminates most of the heat dissipation inside the control cabinet.

Table 9. Servo amplifier heat dissipation

Motor Model AmplifierModel

Total Dissipation DissipationInside Cabinet

α6/3000 α SVU1-80 73 W 38 W

α12/3000 α SVU1-80 106 W 47 W

α22/2000 α SVU1-80 127 W 54 W

α30/3000 α SVU1-130 228 W 71 W

α40/2000 w/ Fan α SVU1-130 276 W 81 W

The following notes apply to the heat values:

The heat dissipation values are worst case values when motors are run at their continuous outputratings.

If the heat sink of the amplifier is installed outside the cabinet or if a separate regenerative resistor isinstalled outside the cabinet, it is unnecessary to add the heat generated by the regenerative resistorto the total heat generated by the cabinet. If the heat sink of a built-in or separate regenerativeresistor is installed inside the cabinet, it is necessary to add the heat generated by the regenerativeresistor to the heat generated by the cabinet. See Section 6.6 for more information.



5.4 α SERIES MOTOR DIMENSIONS

5.4.1 α6/3000

BDmax

AJ

130(5.118)

S

H

BF

XD

BBmax

AK U

AH

92(3.62)

D1

2

LB

12 (.472)

BC

97(3.82)

MOTOR

Dim. α6/3000

S 60

030.0+− mm (0.2362/0.235 in)

H 2.50

013.0+− (0.0984/0.0933)

BD 165 (6.496)

AJ (dia) 145 (5.709)

BF (dia) 9 (0.354)

Connector Description

1 Motor AC Power Connector

2 Motor Encoder Feedback Connector

NOTES

1. See the α Connection section (Section 7: ) for more information about motor cables.2. Shaft diameter runout = 0.02 mm max (0.00079 in).3. Flange surface runout = 0.06 mm max (0.00236 in).4. Rabbet diameter eccentricity = 0.02 mm max (0.00079 in).5. Maximum radial load for output shaft is 70 kgf (31.8 lb).

Figure 5. α 6/3000 motor, front and side views

MOTOR

Dim. α6/3000

BB 6 mm (.236 in)

XD 36 (1.417)

AK 1100

035.0+− (4.331/4.329)

U 190

013.0+− (0.7480/0.7475)

BC 15±0.5 (0.610/0.571)

AH 55 (2.165)

D 176 (6.93)

B 221 (8.70)

L 259 (10.20)

Dimensions shown in mm (in)



5.4.2 α6/3000 with brake, side view

(Front view same as α6/3000 without brake)

XD

BBmax

AK U

AHD

2

LB

13

92(0.3622)

39(1.54)

BC

4 (.157)12 (.472)

92(3.62)

97(3.82)

MOTOR

Dim. α6/3000 w/ brake

BB 6 mm (0.236 in)

XD 36 (1.917)

AK 1100

035.0+− (4.331/4.329)

U 190

013.0+− (0.7480/0.7475)

BC 221 (8.70)

AH 55 (2.165)

D 225 (8.858)

B 270 (10.63)

L 309 (12.17)

Figure 6. α 6/3000 motor with brake, side view




3 Brake Connector

NOTES

1. See the α Connection section (Section 7: ) for more informationabout motor cables.

2. Shaft diameter runout = 0.02 mm max (0.00079 in).3. Flange surface runout = 0.06 mm max (0.00236 in).4. Rabbet diameter eccentricity = 0.04 mm max (0.00157 in).5. Maximum radial load for output shaft is 70 kgf (31.8 lb).




5.4.3 α12/3000, α22/2000, and α30/3000, front view

AJ

174(6.85)

S BF

H

MOTOR

Dim. α12/2000 α22/2000 α30/3000

S 100

036.0+− mm (0.3937/0.3923 in) 10

0036.0

+− mm (0.3937/0.3923 in) 10

0036.0

+− mm (0.3937/0.3923 in)

H 30

30.0+− (0.1181/0.1063) 3

030.0

+− (0.1181/0.1063) 3

030.0

+− (0.1181/0.1063)

BF 13.5 (0.532) 13.5 (0.532) 13.5 (0.532)

AJ 200 (7.874) 200 (7.874) 200 (7.874)

NOTES FOR ALL VIEWS (see Section 5.4.4 for side view and Section 5.4.5 for side view with brake)

1. See the α Connection section (Section 7.2) for more information about motor cables.2. Shaft diameter runout = 0.05 mm max (0.00197 in).3. Flange surface runout = 0.10 mm max (0.00394 in).4. Rabbet diameter eccentricity = 0.07 mm (0.00276 in).5. Maximum radial load for output shaft is 450 kgf (204 lb).6. Taps for eyebolts are M8 by 15 mm (.591 in) deep; eyebolts are not attached.

Figure 7. α 12/3000, α22/2000, and α30/3000 motors, front view




5.4.4 α12/3000, α22/2000, and α30/3000, side view

BBmax

U

AH

108(4.25)

D

1

2

LB

18(0.709)

AK

20 (0.787)D

122(4.80)

Taps for eyeboltsTyp. (2) places (see notes)

XD

MOTOR

Dimen. α12/2000 α22/2000 α30/3000

BB 3.2 mm (0.126 in) 3.2 mm (0.126 in) 3.2 mm (0.126 in)

XD 70 (2.756) 70 (2.756) 70 (2.756)

AK 114.30

025.0+− (4.50/4.499) 114.3

0025.0

+− (4.50/4.499) 114.3

0025.0

+− (4.50/4.499)

U 3501.0

0+− (1.3784/1.3779) 35

01.00

+− (1.3784/1.3779) 35

01.00

+− (1.3784/1.3779)

AH 79 (3.11) 79 (3.11) 79 (3.11)

D 166 (6.535) 240 (9.449) 314 (12.362)

B 215 (8.465) 289 (11.378) 363 (14.291)

L 240 (9.45) 314 (12.36) 388 (15.28)




Figure 8. α 12/3000, α22/2000, and α30/3000 motors, side view




5.4.5 α12/3000, α22/2000, and α30/3000 with brake, side view

(Front view same as α12/3000, α22/2000, and α30/3000 without brake; see also Notes in Section 5.4.3)

BBmax

U

AH

122(4.80)

2

BD

AK

20 (0.787)

1

L

3

D Taps for eyeboltsTyp. (2) places (see notes)

108(4.25)

18(0.709)

111(4.37)

XD

MOTOR

Dimension α12/2000 w/brake α22/2000 w/brake α30/3000 w/brake

BB 3.2 mm (0.126 in) 3.2 mm (0.126 in) 3.2 mm (0.126 in)

XD 70 (2.756) 70 (2.756) 70 (2.756)

AK 114.30

025.0+− (4.50/4.499) 114.3

0025.0

+− (4.50/4.499) 114.3

0025.0

+− (4.50/4.499)

U 3501.0

0+− (1.3784/1.3779) 35

01.00

+− (1.3784/1.3779) 35

01.00

+− (1.3784/1.3779)

AH 79 (3.11) 79 (3.11) 79 (3.11)

D 238 (9.37) 312 (12.28) 386 (15.20)

B 287 (11.30) 361 (14.21) 435 (17.13)

L 312 (12.28) 386 (15.20) 460 (18.11)




3 Brake Connector

Figure 9. α 12/3000, α22/2000, and α30/3000 motors with brake, side view




5.4.6 α40/2000 with fan, front and rear views

AJ

174(6.85)

BF

S

H

100(3.94)

51(2.008)

FANUC

52(2.047)


150(5.91)

180(7.09)

AIR OUT

MOTOR

Dim. α40/2000 w/fan

S 100

036.0+− mm

(0.3937/0.3923 in)

H 30

30.0+−

(0.1181/0.1063)

BF (dia.) 13.5 mm (0.531 in)

AJ (dia.) 200 (7.874)

NOTES FOR ALL VIEWS (see Sections 5.4.7 and 5.4.8 for top and side views)

1. See Section 7.2 for more information about motor cables.2. Shaft diameter runout = 0.05 mm max (0.00197 in).3. Flange surface runout = 10.10 max (0.00394 in).4. Maximum radial load for output shaft is 450 kgf (990 lb).5. Taps for eyebolts are M8 by 15 mm (.591 in) deep; eyebolts are not attached.6. Rabbet diameter eccentricity = 0.07 mm max (0.00276 in).7. Direction of air flow is downward only.

Figure 10. α 40/2000 with fan, front and rear views




5.4.7 α40/2000 with fan, top and side views

BBmax

U

AH

2

AK

1

•

35 (1.38)325

(12.80)

AIR OUT 3

180(7.09)

388(15.28)20 (.787)


108(4.25) 122

(4.80)

18 (0.709)

109(4.29)

388 (15.28)

437 (17.20)

462 (18.19)

XD

MOTOR


BB 3.2 mm (0.126 mm)

XD 70 (2.756)

AK 114.30

025.0+− (4.50/4.499)

U 3501.0

0+− (1.3784/1.3779)

AH 79 (3.11)

Figure 11. α 40/2000 motor with fan, top and side views




3 Fan Connector




5.4.8 α40/2000 with fan and brake, top and side views

(Front and rear views same as α40/2000 with fan and without brake)

BBmax

U

AH

2

AK

1

•

AIR OUT 4

122(4.8)

3

325(12.80)

180(7.09)

474(18.66)20 (.787) Taps for eyebolts

Typ. (2) places (see notes)

108(4.25)

122(4.80)

65(2.56)

18 (0.709)

474 (18.66)

523 (20.59)

548 (21.57)

XD

MOTOR


BB 3.2 mm (0.126 in)

XD 70 (2.756)

AK 114.30

025.0+− (4.50/4.499)

U 3501.0

0+− (1.3784/1.3779)

AH 79 (3.11)

Figure 12. α 40/2000 motor with fan and brake, top and side views




3 Brake Connector

4 Fan Connector




5.5 SHAFT LOADING:

The allowable load of the motor shaft is as follows:

Table 10. Allowable motor shaft load

Motor Model Radial Load Axial Load Front BearingType

α6/3000 70 kg (31.8 lb) 20 kg (9.1 lb) 6205

α12/3000, α22/2000,α30/3000, α40/2000 w/ fan

450 kg (204 lb) 135 kg (61.4 lb) 6208

NOTES:

The allowable radial load is the value when a load is applied to the shaft end. It indicates the totalcontinuous force applied to the shaft in some methods of mounting (for example, belt tension) andthe force by load torque (for example, moment/pulley radius).

The belt tension is critical particularly when a timing belt is used. Belts that are too tight may causebreakage of the shaft or premature bearing failure. Belt tension must be controlled so as not toexceed the limits calculated from the permissable radial load indicated above.

In some operating conditions, the pulley diameter or gear size needs to be checked. For example,when using the model α6/3000 with a pulley/gear with a radius of 1.5 cm (2 in) or less, the radial loadwhen 230 in-lb of peak torque is provided by the motor will exceed the 154 lb maximum rating. In thecase of the timing belt, the belt tension is added to this value, making it necessary to support theshaft end.

When using a timing belt, shaft failure or bearing overload can be minimized by positioning thepulley as close to the bearing as possible.

Since a standard single row, deep-groove ball bearing is used for the motor bearing, a very largeaxial load cannot be used. Particularly when using a worm gear and a helical gear, it is necessary toprovide another bearing to isolate the thrust load from the searing.

The motor bearing is generally fixed with a C-snap ring, and there is a small play in the axialdirection. When this play influences the positioning in the case of using a worm gear and a helicalgear, for example, it is necessary to use an additional bearing support.



5.6 α SVU1 SERIES AMPLIFIER AND PANEL CUTOUT DIMENSIONS

The α SVU Series amplifiers are designed with a rear-mounted heat sink that extends through a hole inthe mounting plate. This design eliminates most of the heat dissipation inside the control cabinetreducing the temperature rise in the cabinet and the load on cabinet cooling equipment.

This section contains front and side views as well as the panel cutout drawings for the SVU1-80 andSVU1-130 servo amplifier units.

5.6.1 α SVU1-80 and SVU1-130 dimension drawings

SVU1-80 SVU1-130

Figure 13. Front view of αSVU1-80 and αSVU1-130 servo amplifiers

360(14.17)

FANUC

AC SERVO UNITα s e r i e s

90 max.(3.54)

380(14.96)

45(1.77)

6 mm (0.236) dia. holeTyp. (2) places

FANUC

AC SER VO U N ITα s e r i e s

150(5.91)

360(14.17)

380(14.96)

75(2.95)

9 mm (0.354) dia. holeTyp. (2) places





Figure 14. Side view of αSVU1-80 and αSVU1-130 servo amplifiers

NOTE

The α SVU Series amplifiers and regenerative discharge units have rearheat sink extensions designed to protrude through the customer’s controlcabinet. This design allows the amplifier’s heat to be dissipated outsidethe control cabinet, reducing the load on enclosure cooling equipment.Panel cut out drawings are shown on the next page.

Dim. SVU1-80 SVU1-130

A 135 mm (5.31 in) 135 mm (5.31 in)

B 165 (6.50) 175 (6.89)

C 120 (4.72) 130 (5.12)

MAINTENANCE AREA

C maxMAINTENANCE AREA

A min B

50(1.97)

80(3.15)

8 (0.315)

HOT AIR OUT

AIR IN

FAN(αSVU1-130

ONLY)



5.6.2 α SVU1-80 and SVU1-130 panel cutout drawings

SVU1-80 SVU1-130

Figure 15. Panel cut out drawings of α SVU1-80 and α SVU1-130 servo amplifiers

38.0(1.50)

76.0(2.99)

338(13.31)

360(14.17)

11(0.433)2-M5 (0.196)

R4 max.(0.157)

68.0(2.68)

136(5.35)

338(13.31)

360(14.17)

11(0.433)2-M8 (0.315)

R4 max.(0.157)




5.7 α SVU SERIES SWITCH SETTINGS

There are four channel switches located above the 7-segment LED and behindthe terminal board cover on the front of the α Series servo amplifiers. Theseswitches should be set as described below before use of the α SVU series servoamplifiers.

Figure 16. α SVU Series channel switches

Positions:

The switches are sequentially numbered 1, 2, 3, and 4 with the one at the bottom as switch 1. The OFFposition is on the left, and the ON position is on the right.

Switch 1 Setting:

Always set to ON.

Switch 2 Setting:

Always set to OFF for α SVU1 Series.

NOTE: If the switch 2 setting is incorrect, the VRDY OFF alarm may occur.

Switch 3 and 4 Setting:

The setting of these switches depends on the regenerative discharge resistance used:

Table 11. Switch 3 and 4 setting for α SVU1 Series amplifiers

SVU1-80 SVU1-130

Regen. Discharge Unit SW3 SW4 Regen. Discharge Unit SW3 SW4

Built-in (100 W) ON ON Built-in (400 W) ON ON

Separate A06B-6089-H500 (200 W) ON OFF Separate A06B-6089-H711 (800 W) ON OFF

Separate A06B-6089-H713 (800 W) OFF OFF

OFF ON

4321

ON



5.8 NOISE PROTECTION

5.8.1 Separation of Signal and Power Lines

When routing signal and power lines, the signal lines must be separated from the power lines to ensurebest noise immunity. Table 12 below lists the types of cables used:

Table 12. Servo amplifier signal line separation

Group Signal Action

A Amplifier input power line,motor power line, MCC drivecoil

Separate these cables from those of group B by bundling themseparately* or by means of electromagnetic shielding**. Attach a noisepreventer or suppressor, such as a spark arrester, to the MCC drive coil.

B Cable connecting control unitwith servo amplifier and serialencoder feedback cable

Separate these cables from those of group A by bundling themseparately or by means of electromagnetic shielding**. In addition,shielding must be provided.

* The bundle of group A cables must be separated from the bundle of group B cables by at least 10 cm.** Electromagnetic shielding involves shielding groups from each other by means of a grounded metal (steel) plate.

5.8.2 Grounding

A typical machine has three separate grounds:

Signal Ground: Provides the reference potential (0 V) for the electrical signal system.

Frame Gr ound: Ensures safety and shields external and internal noise.

System Ground: Connects each unit and the inter-unit frame ground system to earth ground.

P o w e rm a g n e t ic su n it

S e rv oa m p .

C N Cc o n t ro lun it

P o w e rm a g n et ic s c ab in e t

O p e ra to r 'sp a n e l

D is tr ib u t io n b o a rd

M a inun it

S ign a l g ro u n dF ra m e g ro u n dS y s te m g ro u n d

Figure 17. Ground system

GE FanucMotionController



Notes on the ground system wiring for α SVU1 Series amplifiers:

The ground resistance of the system ground must not exceed 100 ohms (Class-3 ground).

System ground connection cables must have a sufficiently large cross-sectional area to enable themto safely carry the current that will arise in the event of a problem such as a short-circuit (in general,a cross-sectional area no less than that of the AC power line must be provided).

The system ground connection cable must be integrated with the AC power line such that powercannot be supplied if the ground wire is disconnected.

5.9 COMMAND CABLE GROUNDING

The GE Fanuc controller cables that require shielding should be clamped by the method shown below.This cable clamp treatment provides both cable support (strain relief) and proper grounding of the shield.To ensure stable system operation, the cable clamp method is recommended. Partially peel back thecable sheath to expose the shield. Push the clamp (A99L-0035-0001) over the exposed shield and insertthe clamp hooks into slots on the grounding bar (44B295864-001). Tighten the clamp to secure cable andcomplete the ground connection. The grounding bar must be attached to a low impedance earth ground.

Grounding

Figure 18. Cable grounding clamp detail

40 (1.57)to

80 (3.15)Cable

CableGroundingClamp

GroundingBar



Figure 19. Command cable shield grounding system

5.10 SELECTING A GROUND FAULT INTERRUPTER

The α Series servo amplifier drives a motor by means of the transistor-based PWM inverter method, inwhich a high-frequency leakage current flows to ground through the stray capacitance of the motorwindings, power cable, and amplifier. A ground fault interrupter or leakage-protection relay, which isinstalled on the power supply side, can malfunction if such a leakage current should flow. Therefore, youshould select an inverter-compatible ground fault interrupter capable of handling the approximateleakage currents shown below in order to protect against the occurrence of this malfunction:

α6/3000: choose a 1.8 mA commercial frequency component.

α12/3000, α22/2000: choose a 2.0 mA commercial frequency component.

α30/3000, α40/2000: choose a 2.5 mA commercial frequency component.

GE FanucMotion Controller

Grounding Bar(44B295864-001)

Exposed CableShield/Braid

Cable Grounding Clamp(A99L-0035-0001)



Section 6: α Servo System Power RequirementsThis section provides information about AC amplifier power as well as the discharge of regenerativepower.

6.1 POWER LINE PROTECTION

A circuit breaker, electromagnetic contactor and AC line filter or transformer should be installed as partof your α Series Servo system. GE Fanuc provides the AC line filter as an option. The transformer,circuit breaker, and electromagnetic contactor, however, are user-supplied components. In Europeancountries where power sources are 380 to 400 VAC and neutral grounded, it is necessary to install atransformer.

The same incoming AC control components can be used to provide power to multiple amplifiers, as longas the components are rated for the current and power drawn by the sum of all of the amplifiers.

6.2 AC LINE FILTER

An AC line filter is recommended to suppress the influences of high-frequency input line noise on thedrive power supply. When an isolation-type power transformer is used because a power supply voltagewithin the specified range is not available, an AC line filter is not required.

If two or more servo amplifiers are connected to one AC line filter, the total continuous output rating of allconnected servo amplifiers should be kept below the continuous output rating of the AC line filter. Thecontinuous output rating for the various servos are shown below.

Table 13. α servo motor continuous output rating

Motor Cont. Output Rating

α6/3000 1.4 kW

α12/3000 2.8 kW

α22/2000 3.8 kW

α30/3000 4.8 kW

α40/2000 with fan 7.3 kW

If your installation must be EMC compliant, verify that the use of an AC line filter fully satisfies the EMCrequirements. You may need to select and install a user-supplied noise filter in order to meet EMCrequirements.

GE Fanuc offers two AC line filters from GE Fanuc:

5.4 kW, 3-phase (A81L-0001-0083#3C)

10.5 kW, 3-phase (A81L-0001-0101#C)



Table 14. AC line filter specifications

Specification 5.4 kW 10.5 kW

Continuous rated current 24A 44A

Max. continuous rated power 5.4kW 10.5kW

Heat dissipation 20W 70W

Weight 1.1 kg (2.4 lb) 3.0 kg (6.6 lb)

Catalog Number (A81L-0001-0083#3C) (A81L-0001-0101#C)

The dimensions of the AC line filters are as follows

50

530(1.18)

30(1.18)

56

60

6-M4 x 0.7Deep

(.197)

(1.97)

(2.20)

(2.36)

95110

73.6

(3.74)(4.33)

(2.89)

35(1.38)

1.6

1.6

78.5

(.062)

(.062)

(3.09)

Figure 20. AC line filter dimension drawing

AC LINE FILTER

Dim. 5.4 kW 10.5 kW

A 50 mm (1.97in) 65 (2.56)

B 56 (2.20) 76 (2.99)

C 60 (2.36) 80 (3.15)

D 6-M4 x 0.7 deep 6-M5

E 30 (1.18) 35 (1.38)

F 30 (1.18) 35 (1.38)

G 5 (.197) 5.5 (.217)

H 73.6 (2.89) 98.5 (3.86)

I 95 (3.74) 114 (4.49)

J 110 (4.33) 126 (4.96)

K 35 (1.38) 63 (2.48)

L 1.6 (.062) 2 (.079)

M 78.5 (3.09) 113 (4.45)

N 1.6 (.062) 2 (.079)

H

IJ

M

K

L

N

A

B

C

D E GF



6.3 CIRCUIT BREAKER SELECTION

To provide proper protection for the amplifier, use a circuit breaker rated at no more than 20 Amps (10Afor VDE 1601 compliance for CE marking). Table 15 will help you select the appropriate circuit breakerfor your motion application.

Table 15. Currents drawn at continuous rated output

Motor Input Current3-phase*

α6/3000 6 A (rms)

α12/3000 11 A (rms)

α22/2000 15 A (rms)

α30/3000 21 A (rms)

α40/2000 29 A (rms)

*This factor attempts to compensate for applications where all axes are not demanding full power at the same time. For applicationswhere all axes are running coninuously or with high duty cycles, this factor must be increased to 1.

6.4 ELECTROMAGNETIC CONTACTOR (MCC) RATING

To prepare for incoming AC power, you must also select and install an appropriate electromagneticcontactor (MCC), based on the peak currents for the motors in your system. A contactor is typicallyrequired on systems approved to display the CE marking (Machinery Directive). When multipleamplifiers are connected to a single circuit breaker, select a breaker based on the sum of the currents inTable 15.

NOTE

When multiple amplifiers are connected to a singlecircuit breaker, select a breaker by multiplying the sumof the currents listed in Table 15 by 0.6.*

During rapid motor acceleration, a current that is threetimes the continuous rating flows. Select a circuitbreaker that does not trip when a current that is threetimes the continuous rating flows for two seconds.



6.5 INCOMING AC POWER

The α SVU Series servo amplifiers require a three-phase AC input for main bus power and a single-phase AC input for control power. Two terminals of the three-phase input (L1 and L2) are connected withthe terminals for the single-phase input by jumper bars on terminal board T1 at the factory. If you want toseparate the two power supplies, remove the jumper bars. The power requirements for these suppliesare shown below:

Table 16. AC and control power

Specification Description

Voltage: 3-phase 200 VAC to 240 VAC

Frequency 50 Hz, 60Hz ±2 Hz

Voltage fluctuation duringacceleration/deceleration

7% or less

Table 17. Control power current

Amplifier Model Control Power Current

α SVU1-80 150 mA

α SVU1-130 300 mA

6.5.1 AC Power Ratings

The power supply rating required when using multiple servo motors can be determined by summing therequirements of the individual motors.

The power supply ratings listed in Table 18 are sufficient as continuous ratings. Note, however, thatservo motor acceleration causes a current to momentarily flow that is approximately three times thecontinuous flow rating.

When the power is turned on, a surge current of about 37A (when 264VAC is applied) flows for 20 msec.

Table 18. Three-phase power supply ratings

Motor Power Supply Rating Current @ 230 VAC

α6/3000 2.2 kVA 6 A

α12/3000 4.3 kVA 11 A

α22/2000 5.9 kVA 15 A

α30/3000 8.2 kVA 21 A

α40/2000 with fan 11.3 kVA 29 A



6.6 DISCHARGING REGENERATIVE ENERGY

Regenerative energy is normally created in applications with a high load inertia or frequent accelerationand deceleration. When decelerating a load, the stored kinetic energy of the load causes generatoraction in the motor causing energy to be returned to the α Series amplifier.

The α SVU amplifiers have a regenerative discharge resistor built in to dissipate this energy. For lightloads, low acceleration rates, or low speed machines, the amplifier may be able to handle theregenerated energy. Some applications may require the assistance of a separately mounted externalregenerative discharge unit. Vertical axes with no counter balance may generate excessive regenerativeenergy. These units comply with VDE 0160, European Safety Standards for CE marking.

Three separate regenerative discharge units are available for the α SVU Series amplifiers:

16 Ω, 200 W (A06B-6089-H500) for the SVU1-80 (weight of 2.2 Kg [4.8 lb])

16 Ω, 800 W (A06B-6089-H713) for the SVU1-80 (weight of 5 Kg [11 lb])

8 Ω, 800 W (A06B-6089-H711) for the SVU1-130 (weight of 5 Kg [11 lb])

Calculations to determine if a separate regenerative discharge unit is required are shown in Section6.6.1.

If the regenerative discharge unit overheats, a built-in thermostat is tripped, the external overheat alarmis issued, and the motor is stopped. If an external regenerative discharge unit is required, a separateunit must be installed for each amplifier. This component cannot be daisy-chained. The dimensions forthese units are shown in Section 6.6.2. Connections for cables K7 and K8 are shown on p. 54 of thisdocument.

6.6.1 Calculating the Average Regenerative Energy

Use the following calculation to determine the average regenerative power that will be released in yourapplication (ambient temperature is assumed not to exceed 55°C). Based on the calculations, aseparate regenerative discharge unit may be required. If this is the case, select either the 200 W or 800W regenerative discharge unit as appropriate for the amplifier model. The watt rating of the selected unitmust exceed the average calculated regenerative power.

AverageAmount of

RegenerativeDischarge (W)

= Rotational Power ReleasedDuring Deceleration (P 1)

(STEP 1)

–Power

Consumedthrough AxisFriction (P 2)

(STEP 2)

+Vertical Power

Released DuringDownwardMotion (P 3)

(STEP 3)



STEP 1—Rotational power rel eased dur ing d ecelerat ion (P 1)

P1 = FJJx mLm /)()1019.6( 24 ω×+×− watts

where:

F Deceleration duty

(Example: deceleration once per 5 second cycle, F=5)

(sec)

Jm Motor rotor inertia

α6/3000 = 0.0174α12/3000 = 0.0555α22/2000 = 0.1041α30/3000 = 0.1475α40/2000 = 0.1996

(lb-in-s2)

JL Load inertia converted to motor shaft inertia (lb-in-s2)

ωm Maximum motor speed at time of deceleration (rpm)

STEP 2—Power consumed through axis friction (P 2)

P2 = FTtx Lma /)1091.5( 3 ×××− ω Watts

where:


ta Worst case/deceleration time (shortest time) (sec)

TL Machine friction torque (in-lb)

F Deceleration duty (sec)

STEP 3—Vertical power released dur ing downward motion (P 3)(this term applies only for vertical axis operation)

P3 = 100

)10182.1( 2 DTx mh ×××− ω Watts

where:

ωm Motor speed during rapid traverse (rpm)

Th Upward supporting torque applied by the motor duringdownward motion

(sec)

D Duty cycle of downward operation

(Note: The maximum value of D is 50%)

(%)



STEP 4—Determine if a separate regenerative discharge unit is required

When the average regenerative power produced never exceeds the values indicated in Table 19, aseparate regenerative discharge unit is NOT required:

Average Regenerative Power = P1 – P2 + P3

Table 19. Maximum allowable regenerative energy for amplifiers

Amplifier Max. Allowable Regen. Power Used with Motors

αSVU1-80 100 watts α6/3000, α12/3000, α22/2000

αSVU1-130 400 watts α30/3000, α40/2000 w/fan

If the average regenerative power exceeds the value for the amplifier, only then is a separateregenerative discharge unit required. Select a unit from Table 20 that exceeds the calculated powervalue.

Table 20. Regenerative discharge capacity

AmplifierModel

Unit Catalog # No Air Flow Air Velocity2m/sec

Air Velocity4m/sec

αSVU1-80 16 Ω, 200 W A06B-6089-H500 200 W (as shipped) 400 W* 600 W*

αSVU1-130 8 Ω, 800 W A06B-6089-H711 Forced cooling fan is installed 800 W

αSVU1-80 16 Ω, 800 W A06B-6089-H713 Forced cooling fan is installed 800 W

*GE Fanuc does not supply a cooling fan for this unit. These values are supplied for reference only (customer-supplied fan).

EXAMPLE:

Assume a vertical axis using an α12/3000 motor (Jm = 0.0555 lb-in-s2) that decelerates once every 4seconds (F = 4) for 0.10 seconds (ta) from a maximum speed of 2500 rpm (ωm). The machine load inertiareflected to the motor shaft (JL) is 0.05 lb-in-s2. The torque (max) required to support the load during adownward move (Th) is 100 in-lb, and the downward motion is 20% of the cycle (D). Axis friction (TL) is35 in-lb.

STEP 1:

P1 = Rotational Power = (6.19 x 10-4) x (0.0555 + 0.05) x 20002/4

= 65.3 Watts

STEP 2:

P2 = Friction Power = (5.91 x 10-3) x 0.10 x 2000 x 35/4

= 10.3 Watts

STEP 3:

P3 = Vertical Power = (1.182 x 10-2) x 100 x 2000 x 100

20 = 472.8 Watts



STEP 4:

Average Power = P1 – P2 + P3

= 65.3 – 10.3 + 472.8

= 527.8 Watts

(Note the large value associated with the non-counterbalanced vertical load)

Since this value is larger than the 100 W internal capacity of the αSVU1-80 amplifier used with thismotor, a separate regenerative discharge unit is required. The A06B-6089-H713 unit is adequate sinceits 800 W rating exceeds the 539.1 W average for the application. With a customer-supplied fan with atleast a 4 m/sec flow rate, the A06B-6089-H500 unit could also be used.



6.6.2 Regenerative discharge unit dimensions

The separate regenerative discharge units are designed with a rear-mounted heat sink that extendsthrough a hole in the mounting plate. This design eliminates most of the heat inside the control cabinet.This section contains the dimensions for the units, and Section 6.6.3 shows the necessary panel cutoutsto properly mount the units in an enclosure.

A06B-6089-H500 (200 W) for the α SVU1-80

Figure 21. 200 W Regenerative discharge unit (A06B-6089-H500), front, side, and end views

360(14.17)

90 max

(3.54)

380(14.96)

45(1.77)

6 mm (0.236) dia. HoleTyp. (2) places

Terminal boardscrews: M4x4

90(3.54)

1.6 (0.063)

25 (0.984)

AIR FLOW

+ + + +



A06B-6089-H711 (800 W) for the α SVU1-130 and A06B-6089-H713 (800W) for the α SVU1-80

Figure 22. 800 W Regenerative discharge unit (A06B-6089-H711, A06B-6089-H713), front, side, and endviews and T3 terminal detail

5 (0.197) min.

Fan Motor

AIR IN

HOT AIR OUT*

130(5.12)

8 (.315)

110(4.33)

23 (0.906)

335(13.19)

22 (0.866)

75(2.95)

150(5.91)

334(13.15)

360(14.17)

10(0.254)7 (0.276) dia Hole

Typ. (2) places

380(14.96)

23(0.906)

T3

+ + + + + +

9 (0.354)

11 (0.433)Screw M4X8L

1 2 3 4 5 6

T3

CAUTION

The exhaust system becomes veryhot. Do not touch or mount parts tooclose.



6.6.3 Regenerative discharge unit panel cutout dimensions

The panel cutouts necessary to mount the separate regenerative discharge units are shown below.

A06B-6089-H500 (200 W) for the α SVU1-80 A06B-6089-H711 (800 W) for the α SVU1-130A06B-6089-H713 (800 W) for the α SVU1-80

Figure 23. Regenerative discharge unit panel cutout dimensions

11(0.433)


CAUTION:Attach packing (acrylonitrile-butadiene

rubber or soft NBR) around the cutout tokeep out oil and dust.

38.0(1.50)

76.0(2.99)

338(13.31)

360(14.17)

2-M5 (0.196)4-R4.0 max.

4-R4.0 max.68.0

(2.68)136

(5.35)

338(13.31)

360(14.17)

11(.433)2-M6 (0.236)

Packing locationshown by crosshatching (See

Caution)



Section 7: α Servo System Connection7.1 α SVU1 AMPLIFIER CONNECTIONS

Power terminations are connected to the αSVU amplifiers on Terminal Board T1 located on the frontof the amplifier. The terminals are shielded by a hinged cover that includes a convenient labelindicating the terminal designations, as shown in Figure 24. Terminals are M4 screws and will acceptstripped wire, spring spade, or ring terminals.

α SVU1-80 α SVU1-130(A06B-6089-H105) (A06B-6089-H106)

NOTE

5 and 6 on terminal board T1 are not used with the α SVU1 Series.

Figure 24. αSVU amplifier terminal designations

2 L1

1

9 U[UM]

5 (100A)

6 (100B)

7 RL2

8 RL3

3 L2

4 L3

10V

[VM]

11W

[WM]

12

13 L1C

20 U[UM]

16 (100A)

17 (100B)

18 RL2

19 RL3

14 L2C

15 TH1

21V

[VM]

22W

[WM]

23

2 L1

1

9 U

5 (100A)

6 (100B)

7 RL1

8 RL2

3 L2

4 L3

10 V

11 W

12

13 L1C

16 TH2

17 RC

18 RI

19 RE

14 L2C

15 TH1

24FAN

1

25

T1T1

FAN2



Signal and control cables are interfaced to the amplifiers using connectors on the bottom of the unit.Location and designation of each connector is shown in Figure 25.

Figure 25. Bottom view of αSVU amplifier

7.2 α SYSTEM CONNECTIONS

When planning your system, it is important to determine how the different parts of the systemconnect together. Cable reference numbers K1 through K15 on the α Servo Connection Diagram inSection 7.3 and in Table 22 indicate the required and optional system connections.

The α Series motor and amplifier connectors required for the system are available from GE Fanuc.

GE Fanuc supplies connectors in order to allow you to manufacture cables to the specific lengthrequired by your system design. GE Fanuc does offer finished cables as options for manyconnections. See the Cable Connections chart that follows for more information.

An external contactor (MCC) connector (A06B-6089-K201) and E-Stop connector (A02B-0120-K321)are shipped with each α Series servo amplifier package.

Optional As are also available for the various and feedback cables.

Table 21. Available motor cable connectors for α Servo systems

Part Number Description

44A730464-G18 Motor Power Connector Kit, α6/3000

44A730464-G20 Motor Power Connector Kit, α12/3000 and α22/2000

44A730464-G21 Motor Power Connector Kit, α30/3000 and α40/2000

A06B-6050-K115 Motor Encoder Connector Kit, α 6/3000

44A730464-G24 Motor Encoder Connector Kit, α12/3000, α22/2000, α30/3000, and α40/2000

44A730464-G26 Motor Brake Connector Kit, all α Series motors

# Connector Description ConnectorLabel

Remarks SeeSection

7.4

1 Connector for GE Fanuc MotionController or CNC Interface

JS1B N/A K1 cable

2 Connector for Serial Encoder JF1 N/A K2 cable

3 Connector for Serial EncoderBattery

JA4 N/A K9 cable

4 Connector for 24V power supply(connector keyed for Y position)

CX3 pin 1pin 3

K10 cable

5 Connector for E-Stop inputsignal (connector keyed for Xposition)

CX4 pin 2; ESPpin 3; 24V

K5 cable

3

2

1

4 5

1 1

2 2

3 3



Table 22. Cable Connections

Ref. Connects Prefinished Cable Part Number Connection Type When Required

K1 DSM302 to Amplifier (JS1B) IC800CBL001 (1m)IC800CBL002 (3m)

Servo CommandSignal

always

K1 All Other Controllers to Amplifier(JS1B)

IC800CBL003 (2m) Servo CommandSignal

always

K2 Built in Serial Encoder to Amplifier(JF1)

IC800CBL021 severe duty (14m) Motor EncoderFeedback

always

K3 AC Power Supply to Amplifier N/A 3-Phase ServoPower

always

K4 Amplifier to Motor(Prefinished cables include

separate cable to connect motorframe ground to customer's earth

ground.)

IC800CBL061 (α6/3000) [14m]IC800CBL062

(α12/3000, α22/2000) [14m]IC800CBL063

(α30/3000, α40/2000) [14m]

Motor Power always

K5 Amplifier E-stop contact (CX4) tomachine E-stop contact

N/A Emergency Stop always

K6 AC Control Power Supply toAmplifier

N/A Amplifier ControlPower

always

K7 Amplifier to RegenerativeDischarge Unit

N/A SeparateRegenerative

Discharge Unit

in some cases1

K8 Regenerative Discharge Unit OverTemperature Switch to Amplifier


Discharge Unit

in some cases1

K9 Amplifier (JA4) to EncoderBackup Battery Unit

44C741863-001 Absolute EncoderBattery

with battery option2

K10 Control to MCC Coil Connector(CX3) on Amplifier

N/A EmergencyStop/Power Enable

control-dependent;consult your

controldocumentation

K11 Amplifier to RegenerativeDischarge Unit Cooling Fan


Discharge Unit FanSupply Cable

in some cases1

K12 90 VDC Brake Power Supply toMotor Brake

44C742238-004 (14m) Motor Brake Power with brake option

K13 Motor Cooling Fan to Fan PowerSupply

44C742238-004 (14m) Motor Fan Power α40/2000 with fanonly

1 See the Discharging Regenerative Energy section in Section 6.62 Prefinished cable is provided as a part of a battery pack option



7.3 α SERIES SERVO CONNECTION DIAGRAM

NOTES

An AC line filter is recommended (unless an isolation transformer is provided) to reduce the effect ofharmonic noises to the power supply. Two or more αSVU amplifiers can be connected to one AC line filterif its power capacity is not exceeded.

RC and RI were connected to each other through a jumper bar at the factory. If a separate regenerativedischarge unit will be used, the jumper bar must be removed.

TH1 and TH2 were connected to each other through a jumper bar at the factory. Remove the jumper barand connect these terminals to the separate regenerative discharge unit and resistor thermal switch.

Only the αSVU1-130 (A06B-6089-H106) has FAN1 and FAN2 terminals. Connect the terminals to the fanmotor (K11 cable) of the separate regenerative discharge unit (other than the A06B-6089-H106). If a fan isto be used with the aSVU1-80 the fan power should be connected to L1C and L2C through a 5-amp circuitbreaker as shown.

For CE Mark applications, an MCC that complies with European standards should be selected. The usershould determine details of the use of the MCC.

α SVU1Amplifier

Battery

α Series Motor

12

Emergency Stop

11

10

9

GE Fanuc MotionController

(Option)

CX4

U (UM)

V (VM)

W (WM)

K5 SB

K4

JS1B

CX3Power for customer-supplied

contactor coil (MCC)

K1

K10

13

14

L1C

L2CK6

4

3

2

1

L1

L2

L3

MCCK3

JA4 JF1

17 18 19 15 16 24 25

RC RE TH1 TH2RI FAN1FAN2

K11(αSVU1-130)

M

K8K7

FanThermostat

Separate RegenerativeDischarge Resistor

K11 (αSVU1-80)

5ACircuitBreaker

ACLineFilter

R

S

T

PE

Motor Fan (α40/2000 motor

onl y)

ABC

90VDC Brake PowerSupply (only for

motors withoptional brake)

K12

200–240 VAC

Breaker

K9 K2

M E



7.4 CONNECTION DETAILS

K1—Servo Command Signal Cable ( αα6/3000, αα12/3000, αα22/2000, αα30/3000, αα40/2000)

•PWMA (•ALM1)

0V (4)

(3)JS1B–3

–4

•PWMC (•ALM2)

0V (6)

(5)–5

–6

•PWME (•ALM4)

0V (8)

(7)–7

–8

•ENBL (•ALM8)

0V (14)

(13)–13

–14

IR

GDR (2)

(1)–1

–2

IS

GDS (12)

(11)–11

–12

0V

0V (20)

(19)–19

–20

•DRDY

•MCON (10)

(9)–9

–10

PD

•PD (16)

(15)–15

–16

PREQ

•PREQ (18)

(17)–17

–18

α Amplifier Motion Controller(see note)

NOTES

The servo command cables for the DSM300 Series controller(IC800CBL001 and IC800CBL002) must be purchased from GEFanuc. Proper tooling is required to assemble the connectors. Forcustom length cables, contact your GE Fanuc Distributor or GEFanuc Sales Engineer.

Grounding the cable shield using the grounding bar (44B295864-001) and cable grounding clamp (A99L-0035-0001) will providegreater noise immunity.

Wire: 0.08mm2 twisted pair group shielded cable (10 pairs). The following wire is recommendedfor the K1 cable: 28 AWG x 10 pairs (20 conductors).



Cable (K1) GE Fanuc Part No. Connector Manufacturer

DSM300 Controllerto Servo Amplifier(JS1B)

IC800CBL001 (1 meter)


Cable must be purchased from GE Fanuc(connectors not sold separately)*

GE Fanuc controllerother than DSM302to Servo Amplifier(JS1B)

IC800CBL003 (2 meter) Hirose Electric Co., Ltd.

1 3 5 7 92 4 6 8 10

1113 15 17 19

12 14 16 18 20

Honda Tsushin Kogyo Co.,Ltd. (PCR-E20FA)

12

34

56

78

910

11

1213

1415

1617

1819

20

Connectors viewed from back (solder/crimp side).

*NOTE: DSM302 cables cannot be customer-manufactured and uses a 36-pin connector on its end. The DSM302 module requiresIC693ACC355 Axis Terminal Board and either IC693CBL324 (1 meter) or IC693CBL325 (3 meter) Terminal Board Cable to accessaxis I/O such as Home Switch Input, Over Travel Inputs, or Strobe (registration) Inputs.



K2—Motor Encoder Feedback Cable ( αα6/3000, αα12/3000, αα22/2000, αα30/3000,αα40/2000)

SD

•SD (D)

(A)JF1–1

JF1–2

REQ

•REQ (G)

(F)JF1–5

JF1–6

+5V

0V

JF1–18, –20

JF1–12, –14

0VA

+6VA (R)

(S)JF1–16

JF1–7

Shield (H)

α SVU Amplifier α Motor Encoder

(N, T)

(J, K)

Prefinished 14m Cable, Part number: IC800CBL021 (severe duty)

Wire: for +5V, 0V use two parallel conductors of 0.5mm2 (20 AWG) or larger when the wirelength does not exceed 14m. When the wire length exceeds 14m, wire gauge must be increasedto ensure that the sum of the electrical resistance of 0V and 5V circuit does not exceed 0.5ohms. For 6VA, 0VA use 0.5mm2 (20 AWG) or larger; for SD, *SD, REQ, *REQ use 0.18mm2

(24 AWG) or larger twisted pair with 60% braid shield.

Connector GE Fanuc Part No. Manufacturer

Servo Amplifier(JF1)

A02B-0120-K303 Hirose Electric Co., Ltd. (F140-2015S) [connectorcover: FI-20-CV]

1 3 5 7 92 4 6 8 10

12 14 16 18 20

Connector viewed from back (solder/crimp side).

Servo MotorEncoder

44A730464-G24(CE EXT GND pintype)

Hirose Electric Co., Ltd. (MS3106A 20-29SW,straight) (MS3108B 20-29SW, elbow)

AB

C

D

E

FG

H

J

K

LM

NP

RS

T



K3—Three-Phase Servo Power Cable

For a power supply voltage of 200–240 VAC 50/60 Hz

R

S

T

G

Breaker AC LineFilter

Main Power Supply α SVU Amplifier

(L1) T1-2

(L2) T1-3

(L3) T1-4

( ) T1-1

For αSVU1-80, use 600 V, 4-conductors (JIS C 3312) of 3.5mm2 (12 AWG) or larger, heat-resistive vinyl cable (nonflammable polyflex cable with a max. conductor temperature of 105º C)of 3.5mm2 (12 AWG) or more.

For αSVU1-130, use use 600 V, 4-conductors (JIS C 3312) of 5.5mm2 (10 AWG) or larger.

Use M4 terminal board screws on α SVU amplifier

K4—Motor Power Cable ( αα6/3000)

T1-9 (U) A

T1-10 (V) B

T1-11 (W) C

D

α SVU Amplifier α Motor

Motor

T1-12 ( )

U

V

W

G (Motor Body)


Wire: 4-conductor, 12 AWG, Type S0 power cord, PUR (polyurethane) jacket

Connector Part No. Maker

Servo AmplifierT1 Terminal Board

N/A

(M4 Spring Spade)

N/A

Servo Motor 44A730464-G20(CE EXT GND pin)

DDK CE Series (CE02-6A22-22DS)

D

C

A

B



K4—Motor Power Cable ( αα12/3000, αα22/2000)

T1-9 (U) A

T1-10 (V) B

T1-11 (W) C

D


Motor

T1-12 ( )

U

V

W

G (Motor Body)


Wire: 4-conductor, 12 AWG, Type S0 power cord, PUR (polyurethane) jacket



N/A (M4 SpringSpade)

N/A

Servo Motor 44A730464-G20(CE EXT GND pin)

DDK CE Series (CE02-6A22-22DS)

D

C

A

B



K4—Motor Power Cable ( αα30/3000, αα40/2000)

T1-9 (U) A

T1-10 (V) C

T1-11 (W) E

F


Motor

T1-12 ( )

U

V

W

G (Motor Body)

D

B

(Black)

(Red)

(Blue)(Orange)

(Yellow)(Brown)

(Green)


Wire: 7-conductor, 12 AWG, Type SO power cord, PUR (polyurethane) jacket



N/A (M4 SpringSpade)

N/A

Servo Motor 44A730464-G20(CE EXT GNDpin)

DDK CE Series (CE02-6A24-10GS)

F

C

A

BE

D

G



K5—Amplifier Emergency Stop Connection

+24V

α SVU Amplifier

CX4 (bottom of amplifier)

ESP

(3)

(2)

(1)

Wire: 2-conductor 0.75mm2 (20 AWG)

Connector GE Fanuc PartNo.

Manufacturer

Servo Amplifier CX4 A06B-0120-K321(included withamplifier packages)

AMP Housing: 1-178128-3; Contact: 1-175218-2(crimp terminal)

K6—Amplifier Control Power Connection

200–240 VACControl Power

α SVU Amplifier

(L1C) T1-13

(L2C) T1-14

M4 screw terminals onfront of amplifier

Wire: 300V, 2-conductor 1.25mm2 (16 AWG) or larger

1 2 3 Connector viewed from wireinsertion side.

NOTEUp to six amplifiers can bedaisy chained to the sameE-Stop circuit



K7—Separate Regenerative Discharge U nit Power Cable(αα6/3000, αα12/3000, αα22/2000, αα30/3000, αα40/2000)

T1-17 (RC)

α SVU AmplifierSeparate Regenerative

Discharge Unit

T1-19 (RE)

T3 (1)

T3 (2)T1-18 (RI) (Caution)

X

M4 screw terminals

CAUTION

When a separate regenerative discharge unit is connected, removethe factory-installed shorting bar between terminals T1-17 (RC) andT1-18 (RI).

Wire: 600 V, 2-conductor, 2.0mm2 (14 AWG) or larger

K8— Separate Regenerative Discharge Unit Thermal Protection Cable(αα6/3000, αα12/3000, αα22/2000, αα30/3000, αα40/2000)

T1-15 (TH1)

α SVU AmplifierSeparate Regenerative

Discharge Unit

T1-16 (TH2)

T3 (3)

T3 (4)

normally closedthermal switch

M4 screw terminals

CAUTION

When a separate regenerative discharge unit is connected, the DIPswitches on the front of the amplifier must be set for the proper unit.See Section 5.7 for more information.




K9—Optional Absolute Encoder Battery Cable ( αα6/3000, αα12/3000, αα22/2000,αα30/3000, αα40/2000)

JA4 (7)

α SVU Amplifier Battery Unit

JA4 (3)

+6V (+)

0V (–)

(Red)

(Black)

M3 screw terminals

Prefinished 2m Cable: 44C741863-001 (supplied as a part of α SVU Series Battery Backup KitIC800ABK001)

Wire: 2-conductor, 0.75mm2 (20 AWG)

Cable GE Fanuc Part No. Connector Manufacturer

Servo Amplifier JA4 A02B-0120-K301 Hirose Electric Co., Ltd.

1 3 5 7 92 4 6 8 10

1113 15 17 19

12 14 16 18 20


12

34

56

78

910

11

1213

1415

1617

1819

20




K10—Emergency Stop/Power Enable Cable(αα6/3000, αα12/3000, αα22/2000, αα30/3000, αα40/2000)

Coil Internal Contact(see contact

ratings below)

External Power Supply(to be matched to the

customer’s contactor coil voltage)

Spark Arrester

CX 3 (bottom of amplifier)

(MCC)

(3)

(1)

User-supplied contactor foramplifier AC supply

αSVU Amplifier

Wire: 2-conductor, 1.25mm2 (16 AWG) or larger


Manufacturer

Servo Amplifier CX3 A06B-6089-K201(included with αSeries amplifierpackagesIC800APK080 andIC800 APK130)

AMP Housing: 1-178128-3; Contact: 1-175218-2(crimp terminal)

Connector viewed from wire insertion end

Contactor Ratings:

Specification ofinternal contact

Resistor load(cos φ=1)

Inductance load(cos φ=0.4, L/R=7msec)

Rated load 250 VAC, 5A

30VDC, 5A

250 VAC, 2A

30 VDC, 2A

Max. current 5A 5A

1 2 3



K11—Separate Regenerative Discharge Unit Fan Supply Cable (A06B- 6089-H711 orA06B-6089-H713)

T1-24 (FAN1)

α SVU1-130 Amplifier only(see note)

Separate RegenerativeDischarge Unit

(A06B-6089-H711 orA06B-6089-H713)

T1-25 (FAN2)

T3 (5)

T3 (6)

M4 screw terminals

NOTE

Only the α SVU1-130 amplifier has separate fan power supplyterminals. When using the A06B-6089-H713 unit with the α SVU1-80amplifier, connect the fan power to terminals T1-13 (L1C) and T1-14(L2C) through a 5A circuit breaker.


K12—Motor Brake Power C onnection

(customer supplied)

Motor Brake

A

C

B

Brake PowerSupply

(See Section 2.3)

(Black)

(White)

(Green)

Prefinished 14m Cable, Part number: 44C742238-004 (severe duty)

Wire: 330 V, 3-conductor, 20 AWG, 80 oC, PUR (polyurethane) jacket


Manufacturer

Servo Motor Brake 44A730464-G26 AMP 3102A-10SL-3P

C A

B

Connector viewed from solder side



K13—Cooling Fan Power Connection ( αα 40/2000)

(customer supplied)

Motor Fan Unit

A

C

B

Fan Power200–240 VACSingle Phase

50/60 Hz

(Black)

(White)

(Green)


Wire: 330 V, 3-conductor, 20 AWG, 80 oC, PUR (polyurethane) jacket


Manufacturer

Servo Motor Fan 44A730464-G26 AMP 3102A-10SL-3P

C A

B

Connector viewed from solder side

Fan Voltage/Current Specificat ions:

Inputvoltage

Steady-statecurrent

Surge current

200V Approx. 0.85Arms Approx. 1.60Arms

230V Approx. 0.98Arms Approx. 1.84Arms



Section 8: α SVU Series Protection and Alarm FunctionsThe Servo Amplifier Unit can detect error conditions and provide alarm information.

The LEDs on the front of the amplifier provide a visual cue to the status of the system by indicating,for example, when the motor and amplifier are ready to function. A built-in, seven-segment LEDdisplay indicates when an alarm condition is detected. When an alarm is detected, power is droppedand the motor is stopped by dynamic braking action. Alarm information is displayed as diagnosticdata in the GE Fanuc controller. Table 23 details the alarm conditions the α SVU Series ServoAmplifier System can detect. Table 24 shows the LED indication for normal operating mode.

Table 23. α SVU1 Series servo amplifier alarm system

Alarm Type LED Ind. Description

Over-voltage alarm (HV) 1 Occurs if the DC voltage of the main circuit power supply isabnormally high.

Low control power voltage alarm (LV) 2 Occurs if the control power voltage is abnormally low.

Low DC link voltage alarm (LVDC) 3 Occurs if the DC voltage of the main circuit power supply isabnormally low or if the circuit breaker trips.

Regenerative discharge control circuitfailure alarm (DCSW)

4 Occurs if the short-time peak regenerative discharge energy istoo high or if the regenerative discharge circuit is abnormal.

Over-regenerative discharge alarm(DCOH)

5 Occurs if the average regenerative discharge energy is toohigh (too frequent acceleration/deceleration) or theregeneration resistor overheats.

Dynamic brake circuit failure (DBRLY) 7 Occurs if the relay contacts of the dynamic brake fusetogether.

Over-current alarm 8 Occurs if an abnormally high current flows through the motor.

IPM alarm 8. The Intelligent Power Module (IPM) has detected an alarm dueto over-current, overheating, or a drop in IPM control powervoltage.

Circuit breaker (trips) The circuit breaker trips if an abnormally high current(exceeding the working current of the circuit breaker) flowsthrough it.

Table 24. α SVU1 Series servo amplifier alarm system

Type LED Ind. Description

Amplifier not ready — The servo amplifier is not ready to drive the motor.

Amplifier ready 0 The servo amplifier is ready to drive the motor.



This page intentionally left blank.


Part II:β ServoSystem


62 Part II: β Series Servo System


Part II: β Series Servo System 63

Section 9: β Servo System Block DiagramThe following block diagram shows the interconnections of a typical β Series servo system:

Figure 26. β Series servo block diagram

NOTE

A 24 VDC power supply, circuit breaker, electromagnetic contactor,surge suppresser, and transformer or line filter should be user-installedas part of the system. See β Servo System Package Options in Section12: and β Servo Installation in Section 13: of this document for moreinformation.

* For single phase input, the lifetime of the amplifier is reduced because of higher input current. For operation of β6/2000 or αC12/2000motors at acceleration/deceleration duty cycles greater than 1 cycle/20 seconds, 3-phase input is recommended. The output power ofthese motors when operated in ambient temperatures greater than 40°C must be derated linearly at 1%/°C above 40°C up to amaximum ambient temperature of 55°C.

MasterEncoder

Position,Velocity, and

Current Loops

(Controller)Command

SignalConnection

AbsoluteEncoderBattery

Option

Connector

Motor Encoder Feedback Connection

200-240 VAC1 or 3 Phase*

DischargeResistor

Amplifier

24 VDC

MotorPower

Connection

Motor

90VDC

M Encoder

Line Filter orTransformer

Brake

Required



Section 10: β Series Servo Product Overview10.1 β SERIES MOTORS

The β Series servo motors are all digital systems with built-in 32K serial encoders. All β Series motorsare available with an optional holding brake. The servo motors must be used with the designatedamplifier package and a GE Fanuc motion controller such as the Motion Mate™ DSM 300.

Table 25 provides a summary of the β Series servo motors. See Section 11: for more detailed motorspecifications.

Table 25. β Series Servo Motors

Motor Rated Torque PowerRating

RequiredAmplifier Kit

Motor Catalog #

β0.5/3000 0.5 Nm (5.6 in-lbs)continuous stall

torque; 3000 RPM

0.2 kW 12 Amp(IC800BPK012)

Motor Only: A06B-0113-B075#7008

Motor w/ Brake: A06B-0113-B175#7008

β2/3000 2 Nm (17 in-lbs)continuous stall

torque; 3000 RPM

0.5 kW 12 Amp(IC800BPK012)

Motor Only: A06B-0032-B075#7008


β6/2000 6 Nm (53 in-lbs)continuous stall

torque; 2000 RPM

0.9 kW 20 Amp(IC800BPK020)

Motor Only: A06B-0034-B075#7008


αC12/2000 12 Nm (106 in-lbs)continuous stall

torque; 2000 RPM

1.0 kW 20 Amp(IC800BPK020)

Motor Only: A06B-0141-B075#7008




10.2 β SERIES MOTOR SPEED–TORQUE CURVES

The curves shown below illustrate the relationship between the speed of the motor and the output torque.The motor can operate continuously at any combination of speed and torque within the prescribedcontinuous operating zone. The limit of the continuous operating zone is determined with the motor’sambient temperature at 40°C and its drive current as pure sine wave. Actual operation is limited by thecurrent of the servo drive unit.

β0.5/3000 β2/3000

2.0

1.5

1.0

0.5

00 1000 2000 3000 4000

Speed (RPM)

Torque(Nm)

8

6

4

2

00 1000 2000 3000 4000

Speed (RPM)

Torque(Nm)

β6/2000 αC12/2000

20

15

10

5

00 1000 2000 3000

Speed (RPM)

Torque(Nm)

0

5

10

15

20

25

30

0 500 1000 1500 2000

Speed (RPM)

Torque(Nm)

KEY: - - - - = Intermittent operating

= Continuous op erating

Figure 27. β Series motor speed-torque curves



10.3 β SERIES MOTOR HOLDING BRAKE

Any of the servo motors can be ordered with a holding brake. The brake is used to prevent movementon horizontal axes or falling along the vertical axis when the servo motor control is turned off.

Brakes are spring-set and electrically released and are designed for holding stationary loads only. Usingthe holding brake to stop a moving axis may damage the motor or severely reduce its service life.

The specifications of the built-in brakes are listed in Table 26:

Table 26. Brake Specifications

An example of a typical user-supplied brake power supply is shown below:

Customer's Control Cabinet

100VAC

500VDC

500Ω/0.2µF

SurgeSuppressor

Rectifier

β0.5 β2,β6,αC12

BrakeCoil

Frame Ground

Motor Body

Surge Suppressor: Manufactured by Matsushita Electronic Parts, Ltd.ERZ-C20DK221, ERZ-C10DK221 or equivalent

B1

B2

B3

A

B

C

B1–B3 apply to β0.5 motors;A–C apply to all other motors

AB

1 2 3C A

B

Figure 28. Typical user-supplied brake power supply

NOTE

Use a full-wave rectified 100VAC or 90VDC as a power supply. Do not use ahalf-wave rectified 200 VAC, which may damage the surge suppressor. Use arectifier with a dielectric strength of 400V or higher. Connect RC filter as shownin the above drawing to protect the contact of the switch.

SERVO PACKAGE

Parameter β0.5/3000 β2/3000 β6/2000 αC12/2000

Brake torque 5.75 in-lb0.65 Nm6.6 kgf-cm

17.7 in-lb2 Nm20 kgf-cm



Release Response Time 40 msec 60 msec 80 msec 150 msec

Brake Response Time 20 msec 10 msec 40 msec 20 msec

Supply Voltage andCurrent

90 VDC (±10%)0.1 A or less

90 VDC (±10%)0.3 A or less

90 VDC (±10%)0.4 A or less

90 VDC (±10%)0.6 A or less

Weight Increase Approx. 0.88 lbApprox. 0.4 kg




Inertia Increase 0.00008 in-lb-s2

0.000009 kg m2

0.00009 kgf-cm-s2

0.00017 in-lb-s2

0.00002 kg m2

0.0002 kgf-cm-s2

0.00061 in-lb-s2

0.00007 kg m2

0.0007 kgf-cm-s2

0.0052 in-lb-s2

0.0006 kg m2

0.006 kgf-cm-s2



10.4 β SERIES SERVO AMPLIFIERS

The following table shows which amplifier model is included in each β Series servo package:

Table 27. β Series Servo Amplifier Models

Motor AmplifierModel

Amplifier Catalog # Amplifier P ackageCatalog #

β0.5/3000 β12 A06B-6093-H101 IC800BPK012

β2/3000 β12 A06B-6093-H101 IC800BPK012

β6/2000 β20 A06B-6093-H102 IC800BPK020

αC12/2000 β20 A06B-6093-H102 IC800BPK020

As a convenience, amplifiers can also be ordered as a package containing all of the componentsrequired to operate the amplifier in a servo system, as detailed in the following table:

Table 28. β Series Servo Amplifier Packages

Description Package Contents* Cata log #

12 Amp β SeriesAmplifierPackage

Contains 1 of each of the following:• SVU1-12 Amp (A06B-6093-H101)• Fuse (A06B-6073-K250)• Connector Kit (A06B-6093-K301)• E-Stop Connector (A02B-0120-K301)• 100 Watt Discharge Resistor (A06B-6093-H402)

IC800BPK012

20 Amp β SeriesAmplifierPackage

Contains 1 of each of the following:• SVU1-20 Amp (A06B-6093-H102)• Fuse (A06B-6073-K250)• Connector Kit (A06B-6093-K301)• E-Stop Connector (A02B-0120-K301)• 100 Watt Discharge Resistor (A06B-6093-H402)

IC800BPK020

* If required, amplifier package components can be ordered separately.



Section 11: β Series Servo System SpecificationsThe β Series Servo system consists of a motor and its corresponding amplifier. GE Fanuc offers severalservo systems, which are identified in Table 29 below.

Table 29. Identification of Servo Systems

SERVO SYSTEM

Parameter (Unit) β0.5/3000 β2/3000 β6/2000 αC12/2000

MOTORRated output power (kW) 0.2 0.5 0.9 1.0

Rated torque at stall (Nm) *

Rated torque at stall (in-lb) *

Rated torque at stall (kgf-cm) *

0.6

5.3

6.1

2

17

20

6

53

60

12

105

122

Rated output speed (RPM) 4000 4000 3000 2000

Rotor inertia (kg m2)

Rotor inertia (in-lb-s2)

Rotor inertia (kg-cm-s2)

0.000017

0.00016

0.00018

0.00065

0.00581

0.0067

0.0039

0.0347

0.040

0.0062

0.0555

0.064

Continuous current at stall A(rms) 2.8 3.2 5.6 5.9

Torque constant (Nm/A [rms]) *

Torque constant (in-lb/A [rms]) *

Torque constant (kgf-cm/A [rms]) *

0.23

2.0

2.3

0.61

5.4

6.2

1.05

9.3

10.7

2.04

18

20.8

Back EMF constant (V/1000 RPM) *

Back EMF constant (Vsec/rad) *

7.9

0.08

21.4

0.20

37.0

0.35

71

0.68

Armature resistance (Ω) * 0.80 1.4 0.85 1.092

Mechanical time constant (s) * 0.0007 0.008 0.009 0.005

Thermal time constant (min) 10 20 40 60

Static friction (Nm)

Static friction (in-lb)

Static friction (kgf-cm)

0.04

0.35

0.4

0.1

.89

1.0

0.3

2.7

3

0.8

7

8

Maximum allowable current (A [peak]) 19 18 30 46

Maximum theoretical torque (Nm) **

Maximum theoretical torque (in-lb) **

Maximum theoretical torque (kgf-cm) **

3.4

30

35

11

97

112

32

283

321

66

584

670

Maximum winding temperature rise (°C) 125 125 125 125

Weight (kg)

Weight (lb)

1.0

2.2

3.5

7.2

8.5

18.7

18

39.6

AMPLIFIERModel β SVU-12 β SVU-12 β SVU-20 β SVU-20

Rated output current (rms amps) 3.2 3.2 5.9 5.9

Current limit (Peak amps) 12 12 20 20

AC Power 200–240 VAC (3-phase), 220–240 VAC (1-phase) 50/60 Hz ± 2 Hz

DC Power 24 VDC ± 10% @ 0.4 Amp per amplifier

Heat loss (watts) 17.5 17.5 33.3 33.3

* These values are standard values at 20°C with a tolerance of ±10%. The speed-torque characteristics vary, depending on the type of software, parameter setting, andinput voltage of the digital servo amplifiers. (The above figures show average values.) These values may be changed without prior notice.

** Theoretical values. The actual maximum torque is restricted by the current limit values of the drive amplifier.



Section 12: β Servo System Options Designing a servo control system requires that you understand how the electrical and mechanicalaspects of your system interact. GE Fanuc application engineers are available to help you determineyour servo control system requirements.

Table 30 will help you select which servo options your system requires:

Table 30. β Servo Package Options

Servo Option Consider Selecting When Catalog # Section #

Motor Holding Brake the system design includes an axis that musthold its position when power is removed

Refer to Table 25 10.3

Absolute EncoderBattery Backup Kit

you would like to avoid having to re-referencethe position when power is restored to thecontrol

IC800BBK021 12.1

AC Line Filters 200—240 VAC is already available to thecontrol cabinet and no transformer is used

5.4 kW, 3-phase:A81L-0001-0083#3C

10.5 kW, 3-phase:A81L-0001-0101#C

14.2

Prefinished Cables the cable lengths available from GE Fanuc areappropriate for your application

Refer to the “CableConnection” Table 44

15.1

Discharge Resistor see “Discharging Regenerative Power” section;The 100 Watt discharge resistor is included inall β Series Amplifier Packages

20 Watt Resistor:A06B-6093-H401

100 Watt Resistor:A06B-6093-H402

14.7



12.1 ABSOLUTE ENCODER BATTERY PACKS

All β Series servo motors feature a built-in encoder that can be used in either incremental or absolutemode. In order to utilize the absolute capability, an optional encoder battery pack (IC800BBK021) for theβ Series amplifier must be installed. This pack allows the encoder’s position information to be backed upso that the machine does not need to be re-referenced to a home position every time power is restored tothe servo system.

For optimal panel space utilization, a small lithium battery pack is available that snaps onto theunderside of the β amplifier. An integral pigtail cable plugs directly into the CX5 connector. One battery isrequired for each amplifier.

Absolute Encoder Battery Kit (IC800BBK021) contains the following:

Battery (A06B-6093-K001)

Battery Holder (A06B-6093-K002)

Connection Method(for use with a single amplifier)

F A N U C

OUT PU T VO LA GE : 24 0 V ~3 . 2 A

E A 6 6 0 0 0 6 1A 0 6 B - 6 0 9 3 - H 1 0 1

3

1

5

R ATED IN PU T : 50 Hz / 60 Hz2 20 -2 40~(1-Ph) / 200-240V~(3 -P h)

M A X

RA T E D O U T PU T C UR R E N T

B

4 0 1 -0 5 J A P A NY a m a n a s h i

SE RV O AMP LIF IER U NIT

4

6

5 .1A / (1 -ph) / 2.3 A (3-p h)

2

S n a p inp la c e o nb o t to m o fa m p li fie r

Figure 29. Connecting a single β Series amplifier to an absolute encoder battery pack

CX5

Battery (A06B-6093-K001)

Battery Holder (A06B-6093-K002)

NOTEDo not attempt to connect multiple amplifiers toone IC800BBK021 battery kit. If you wish todaisy chain multiple β Series amplifiers to onebattery you must use the IC800ABK001 batterykit shown in Section 4.2 and the followingcables:• 44C742433-001 2m, battery to amplifier

cable (1 per battery required)• 44C742433-002 250mm, amplifier to

amplifier cable (1 for each daisy chainedamplifier required)



Section 13: Installation GuidelinesThis section includes environmental requirements, motor and amplifier dimension drawings andinformation on ensuring noise protection and selecting a ground fault interrupter.

13.1 MOTOR ENVIRONMENTAL REQUIREMENTS

The servo motor must be installed in a location that satisfies the following environmental conditions:



Ambient temperature The ambient temperature should be -10°C to 40°C. When operating the machine ata temperature higher than 40°C), it is necessary to derate the output power so thatthe motor’s temperature rating is not exceeded.

Vibration When installed in a machine, the vibration applied to the motor must not exceed 5G.

Altitude No more than 1,000 m (3,300 ft) above sea level.

Drip-Proof Environment The motors have a drip-proof structure that complies with IP65 of the IECstandard. Nevertheless, to ensure long-term performance, the motor surfaceshould be protected from solvents, lubricants, and fluid spray. A covershould be used when there is a possibility of wetting the motor surface. Also,to prevent fluid from being led to the motor through the cable, put a drip loopin the cable when the motor is mounted. Finally, turn the motor connectorsideways or downward as far as possible. If the cable connector will besubjected to moisture, it is recommended that an R class or waterproof plugbe used.

For additional information, see GE Fanuc publication Servo and Spindle Motors Exposed to Liquids,GFK-1046.

13.2 SERVO AMPLIFIER ENVIRONMENTAL REQUIREMENTS

The servo amplifier must be installed in a location that satisfies the environmental conditions identified inTable 32 below.

Table 32. Servo Amplifier Environmental Conditions


Ambient temperature 0°C to 55°C (operating).

-20°C to 60°C (storage and transportation).

Temperature fluctuation Within 1.1°C/min.

Humidity 30% to 95% RH (no condensation).

Altitude No more than 1000 m (3,300 ft) above sea level.

Vibration No more than 0.5 G during operation.

Atmosphere The circuitry and cooling fins must not be exposed toany corrosive and conductive vapor or liquid.

The amplifier must be installed in a cabinet that protects it from contaminants such as dust, coolant,organic solvents, acid, corrosive gas, and salt. Adequate protection must also be provided forapplications where the amplifier could be exposed to radiation, such as microwave, ultraviolet, laserlight, or x-rays.



In order to adequately protect the amplifier, you must ensure that:

Contaminants such as dust and coolant, cannot enter through the air inlet or outlet.

The flow of cooling air is not obstructed.

The amplifier can be accessed for inspection.

The amplifier can be disassembled for maintenance and later reinstalled.

There is sufficient separation between the power and signal lines to avoid interference. Noiseprotection should be provided.

13.3 β SERVO AMPLIFIER HEAT DISSIPATION AND MAINTENANCE

The amplifier contains a cooling fan that forces air through the unit. Allow for adequate clearance forairflow when installing the amplifier using the recommended distances shown in the drawings below. Ifpossible, do not mount amplifiers one above the other unless they are staggered to prevent the heatedexhaust of the lower unit from flowing over the upper unit.

ββSVU-12 Maintenance Clearances ββSVU-20 Maintenance Clearances

0V /+ 2 4 V

FANU COU TP UT VO L A GE : 2 4 0 V ~

3 . 2 A

E A 6 6 0 0 0 6 1A 0 6 B - 6 0 9 3 - H 1 0 1

B A T

CA U T IO N :D ISC H A R G E

T IM E2 min .

POW ER

REA D Y

AL M

C AU T IONC HA R GED

JX5C H K

JS 1BPW M

JF1E N C

3

1

5

C X5XB A T

CX5Y

L 2 /L 1

D C C /D C P

VU

/W

C X11

/L 3

T H 2/T H 1

SE R V O A M P L IF IE R U N IT

RATED INPUT : 50Hz / 60Hz220-240~(1-Ph) / 200-240V~(3-Ph)

M A XRA T ED OU T P UT CU RRE N T

B

4 0 1 - 0 5 J A P A NY a m a n a s h i

SERVO AMPLIFIER UNIT

/

0V /+ 2 4 V

4

6

5.1A / (1-ph) / 2.3A (3-ph)

2

0 V/+ 2 4 V

FANU CO UT P UT V OL AG E : 2 4 0 V ~

3 . 2 A

E A 6 6 0 0 0 6 1A 0 6 B - 6 0 9 3 - H 1 0 1

B A T

C A UT ION :DISC H AR G E

T IME2min .

PO WE R

R EAD Y

A LM

C A U TIONC H A RG ED

JX5C HK

JS1BPW M

JF1E N C

3

1

5

C X5XB A T

CX5Y

L2 / L1

D C C /D C P

V U

/W

CX1 1

/ L3

T H 2/T H 1

S E R V O A M P L IF IE R U N IT

RATED INPUT : 50Hz / 60Hz2 20-240~(1-Ph) / 200-240V~(3-Ph)

M A XR AT E D O UT P UT C URR E NT

B

4 0 1 - 0 5 J A P A NY a m a n a s h i


/

0 V/+ 2 4 V

4

6

5 .1A / (1-ph) / 2.3A (3-ph)

2

10

1 0 1 0

4 0

4 0(.3 9 ) (.3 9 ) (. 3 9)

(1 .5 7 )

(1 .5 7)

0V/+24V

FANUCOUTPUT VOLAGE : 240V~

3.2A

EA66 0006 1A06B - 6093 - H101

BAT

CAUTION: DISCHARGETIME 2 min.

POWER

READY

ALM

CAUTION

CHARGED

JX5CHK

JS1BPW M

JF1ENC

3

1

5

CX5XBAT

CX5Y

L2/ L1

DCC/DC P

VU

/ W

CX11

/L3

TH2/T H1

SERVO A MPL IF IER UNI T

RA TED INPUT : 50Hz / 60Hz220-240~(1-Ph) / 200-240V~(3-Ph)

MAX

RATED OUTPUT CURRENT

B

401- 05 JAPANY ama nashi


/

0V/+24V 4

6

5.1A / (1-ph) / 2.3A (3-ph)

2

10 10 10

40

40

0V/+24V

FANUCOUTPUT VOLAGE : 240V~

3.2A

EA66000 61A06B - 6093 - H101

CAUTION: DISCHARGETIME 2 min.

POWER

READY

ALM

CAUTION

CHARGED

JX5CHK

JS1BP W M

JF1EN C

3

1

5

CX5XBA T

L2/L1

DCC/DCP

VU

/ W

CX11

/L3

TH 2/TH1

SERVO AM PLI FI ER U NIT

RATED INP UT : 50Hz / 60Hz220-240~(1-Ph) / 200-240V~(3-Ph)

MAX

RATED OUTPUT CURRENT

B

401-05 JAPANYa mana shi


/

0V/+24V 4

6

5.1A / (1-ph) / 2 .3A (3-ph)

2

BATCX5Y

(.39) (.39) (.39)

(1.57)

(1.57)

Figure 30. β Series amplifier maintenance clearances

Table 33 identifies worst case heat dissipation values for each amplifier. These values may be used todetermine heat load for sizing enclosures and cooling equipment. Heat dissipation for externalregeneration resistors depends on the application and is calculated in Section 14.7.1, Step 5.

Table 33. Heat Dissipation

Amplifier Total Heat Dissipation Catalog #

βSVU-12 17.5 watts A06B-6093-H101

βSVU-20 33.3 watts A06B-6093-H102




13.4 β SERIES MOTOR DIMENSIONS

13.4.1 β0.5/3000 Motor, front and side views

A

S

H

AJ

BF

XD

BBmax

AK U

AH

G

L

M

Figure 31. β0.5/3000 motor, front and side views

MOTOR

Dim. β0.5/3000

A 60 mm (2.36 in)

S 30

025.0+− (0.1181/0.1191)

H 1.20

125.0+− (0.0472/0.0423)

AJ (dia.) 70 (2.76)

BF (dia.) 5.5 (.2165)

MOTOR

Dim. β0.5/3000 β0.5/3000 with brake

BB 3 mm (.118 in) 3 mm (.118 in)

XD 20 (.787) 20 (.787)

AK 500

025.0+− (1.9685/1.9675) 50

0025.0

+− (1.9685/1.9675)

U 90

009.0+− (0.3543/0.3539) 9

0009.0

+− (0.3543/0.3539)

G 6 (.236) 6 (.236)

AH 25 (.984) 25 (.984)

L 100 (3.94) 128 (5.04)

M ~ 300 (11.81) ~ 300 (11.81)

NOTES

1. Shaft diameter runout = 0.02 mm max (0.00079 in).2. Flange surface runout = 0.06 mm max (0.00236 in).3. Maximum radial load for output shaft is 20 kgf (44 lb).




13.4.2 β2/3000, β6/2000, and αC12/2000 motors, front view

BDmax

AJ

A

S

H

BF

MOTOR

Dimension β2/3000 β6/2000 αC12/2000

A 105 mm(4.13 in) 142 mm(5.59 in) 174 mm (6.85 in)

S 50

03.0+− (.1969/.1957) 6

003.0

+− (.236/.235) 10

0036.0

+− (.394/.392)

H 20

13.0+− (.0787/.0736) 2.5

013.0

+− (.0984/.0933) 3

029.0

+− (.118/.107)

AJ (dia.) 115 (4.53) 165 (6.50) 200 (7.87)

BF (dia.) 9 (.354) 11 (.433) 13.5 (.532)

BD 134 (5.38) 190 (7.48) 240 (9.45)

NOTES FOR ALL VIEWS (see Section 13.4.3 for side view)

1. See the β Connection section (p. 88) for more information about motor cables.2. Shaft diameter runout = 0.02 mm max (0.00079 in) for β2/3000 and β6/2000; 0.05 mm (0.00197 in) for αC12/2000.3. Flange surface runout = 0.06 mm max (0.00236 in) for β2/3000 and β6/2000; 0.10 mm (0.00394 in) for αC12/2000.4. Maximum radial load for output shaft is 25 kgf (55 lb) for β2/3000; 70 kgf (154 lb) for β6/2000; 450 kgf (990 lb) for αC12/2000.

Figure 32. β2/3000, β6/2000, and αC12/2000 motors, front view




13.4.3 β2/3000, β6/2000, and αC12/2000 motors, side view

XD

BBmax

AK U

AH

BC

C

G

BL

1

2

BE

MOTOR

Dimension β2/3000 β6/2000 αC12/2000

BB 5 mm (.196 in) 5 mm (.196 in) 3.2 mm (.126 in)

XD 20 (0.787) 28 (1.10) 70 (2.76)

AK 950

035.0+− (3.740/3.739) 130

0035.0

+− (5.118/5.117) 114.3

0025.0

+− (4.50/4.499)

U 140

011.0+− (0.5512/0.5507) 19

0013.0

+− (0.7480/0.7475) 35

01.00

+− (1.3783/1.3780)

BC 10 (0.394) 12 (0.472) N/A

C 88 (3.46) 110 (4.33) 122 (4.80)

G 8 (0.315) 10 (0.394) 18 (0.709)

AH 36 (1.42) 46 (1.81) 79 (3.11)

B 93 (3.66) 117 (4.61) 166 (6.54)

L 174 (6.85) 203 (7.99) 240 (9.45)

BE 43 (1.69) 90 (3.54) N/A


1 Motor AC Power

2 Motor Encoder Feedback

Figure 33. β2/3000, β6/2000, and αC12/2000 motors, side view




13.4.4 β2/3000, β6/2000, and αC12/2000 Motors with Brake

(Front view same as β2/3000, β6/2000, and αC12/2000 without brake)

XD

BBmax

AK U

AH

BC

C

G

BL

1

2

3

D

MOTOR

Dimension β2/3000 β6/2000 αC12/2000

BB 5 mm (0.196 in) 5 mm (0.196 in) 3.2 mm (0.126 in)

XD 20 (0.787) 28 (1.10) 70 (2.76)

AK 950

035.0+− (3.740/3.739) 130

0035.0

+− (5.118/5.117) 114.3

0025.0

+− (4.50/4.499)

U 140

011.0+−

(0.5512/0.5507)

190

013.0+−

(0.74801/0.74751)

3501.0

0+−

(1.37831/1.3780)

BC 11 (0.433) 12 (0.472) N/A

C 88 (3.46) 110 (4.33) 122 (4.80)

G 8 (0.315) 10 (0.394) 18 (0.709)

AH 36 (1.42) 46 (1.81) 79 (3.11)

D 31 (1.22) 28 (1.10) 65 (2.56)

B 149 (5.87) 169 (6.65) 238 (9.37)

L 230 (9.06) 255 (10.04) 312 (12.28)

Tables continued on next page…

Figure 34. β2/3000, β6/2000, and αC12/2000 motors with brake, side view





1 Brake

2 Motor AC Power

3 Motor Encoder Feedback

NOTES

1. See the Connection section of the manual (p. 88) for more information about motor cables.2. Shaft diameter runout = 0.02 mm max (0.00079 in) for β2/3000 and β6/2000; 0.05 mm (0.00197 in) for αC12/2000.3. Flange surface runout = 0.06 mm max (0.00236 in) for β2/3000 and β6/2000; 0.10 mm (0.00394 in) for αC12/2000.4. Maximum radial load for output shaft is 25 kgf (55 lb) for β2/3000; 70 kgf (154 lb) for β6/2000; 450 kgf (990 lb) for αC12/2000.

13.5 SHAFT LOADING

The allowable load of the motor shaft is as follows:

Table 34. Allowable motor shaft load

Motor Model Radial Load Axial Load Front Bearing(type reference)

β0.5/3000 20 kg (44 lb) 5 kg (11 lb) 6902

6003(without brake)

β2/3000 25 kg (55 lb) 8 kg (17.6 lb)6202

(with brake)

β6/2000 70 kg (154 lb) 20kg (44 lb) 6205

αC12/2000 450 kg (990 lb) 135 kg (297 lb) 6208

NOTES:

The allowable radial load is the value when a load is applied to the shaft end. It indicates the totalcontinuous force applied to the shaft in some methods of mounting (for example, belt tension) andthe force by load torque (for example, moment/pulley radius).

The belt tension is critical particularly when a timing belt is used. Belts that are too tight may causebreakage of the shaft or premature bearing failure. Belt tension must be controlled so as not toexceed the limits calculated from the permissable radial load indicated above.

In some operating conditions, the pulley diameter or gear size needs to be checked. For example,when using the model β6/2000 with a pulley/gear with a radius of 1.5 inches (3.8 cm) or less, theradial load when 230 in-lb of peak torque is provided by the motor will exceed the 154 lb maximumrating. In the case of the timing belt, the belt tension is added to this value, making it necessary tosupport the shaft end.

When using a timing belt, shaft failure or bearing overload can be minimized by positioning thepulley as close to the bearing as possible.



Since a standard single row, deep-groove ball bearing is used for the motor bearing, a very largeaxial load cannot be used. Particularly when using a worm gear and a helical gear, it is necessary toprovide another bearing to isolate the thrust load from the gearing.

The motor bearing is generally fixed with a C-snap ring, and there is a small play in the axialdirection. When this play influences the positioning in the case of using a worm gear and a helicalgear, for example, it is necessary to use an additional bearing support.

13.6 β SERIES AMPLIFIERS DIMENSIONS

The β Series amplifiers are panel mounted devices with dimensions as shown in Figure 35. Wheninstalling the amplifiers make sure the clearances as shown in Section 13.3.

0V/+2 4V

FANU CO U T P U T V O L A G E : 2 4 0 V ~

3 . 2 A

E A 6 6 0 0 0 6 1A 0 6 B - 6 0 9 3 - H 1 0 2

BAT

CA UT IO N:DISCHARG ETIM E 2 min .

PO WER

READY

ALM

CAUTION

CHARG ED

JX5C HK

JS1BPW M

JF1ENC

3

1

5

CX5XBAT

CX5Y

L2/L1

D C C /D C P

VU

/W

CX1 1

/L3

TH 2/TH 1

S E R V O A M P L IF IE R U N I T

RA TED INP UT : 5 0H z / 60H z220-240~ (1- Ph) / 200-240V~ (3-Ph)

M A XR A T E D O U T P U T C U R R E N T

B

4 0 1 - 0 5 J A P A NY a m a n a s h i

SERVO AMPLIFIER UN IT

/

0V /+2 4V

4

6

5.1A / (1-ph ) / 2 . 3A (3-ph)

2

1 4 0

1 5 0

1 0( .3 9 )

6 2

7 5

4 x 5

2 0 *

(5 .5 1 )

(5 .9 1 )

( . 1 9 6 )

( .7 9 )

(2 .4 4 )

(2 .9 5 )

4 1(1 .6 1 )1 0

( . 3 9 )

1 7 28 0(3 .1 5 ) (6 .7 7 )

5 6(2 .2 0 )

O p t i o n a lB a t te ry C a s e

* Measurement applies to the β20 amplifier only. The β12 amplifier does not include the heat sink extension.Dimensions shown in mm (in).

Figure 35. β Series servo amplifier unit, front and side views

4-5(.196)



13.7 NOISE PROTECTION

13.7.1 Separation of Signal and Power Lines

When routing signal and power lines, the signal lines must be separated from the power lines to ensurebest noise immunity. The table below lists the types of cables used:

Table 35. Servo amplifier signal line separation

Group Signal Action

A Amplifier input power line,motor power line, MCC drivecoil

Separate these cables from those of group B by bundling themseparately* or by means of electromagnetic shielding**. Attach a noisepreventer or suppressor, such as a spark arrester, to the MCC drive coil.

B Cable connecting control unitwith servo amplifier and serialencoder feedback cable

Separate these cables from those of group A by bundling themseparately or by means of electromagnetic shielding**. In addition,shielding must be provided.

* The bundle of group A cables must be separated from the bundle of group B cables by at least 10 cm.** Electromagnetic shielding involves shielding groups from each other by means of a grounded metal (steel) plate.

13.7.2 Grounding

A typical machine has three separate grounds:

Signal Ground: Provides the reference potential (0 V) for the electrical signal system.

Frame Gr ound: Ensures safety and shields external and internal noise.

System Ground: Connects each unit and the inter-unit frame ground system to earth ground.

P o w e rm a g n e t ic su n it

S e rv oa m p .

C N Cc o n t ro lun it

P o w e rm a g n et ic s c ab in e t

O p e ra to r 'sp a n e l

D is tr ib u t io n b o a rd

M a inun it

S ign a l g ro u n dF ra m e g ro u n dS y s te m g ro u n d

Figure 36. Ground system

GE FanucMotionController



Notes on the ground system wiring:

The ground resistance of the system ground must not exceed 100 ohms (Class-3 ground).

System ground connection cables must have a sufficiently large cross-sectional area to enable themto safely carry the current that will arise in the event of a problem such as a short-circuit (in general,a cross-sectional area no less than that of the AC power line must be provided).

The system ground connection cable must be integrated with the AC power line such that powercannot be supplied if the ground wire is disconnected.

The CX11-3 grounding connector is supplied to provide the servo motor frame ground connectionand should always be installed. A separate 1 meter long cable for this connection is included with theoptional GE Fanuc prefinished motor power cables.

13.8 COMMAND CABLE GROUNDING

The GE Fanuc controller cables that require shielding should be clamped by the method shown below.This cable clamp treatment provides both cable support (strain relief) and proper grounding of the shield.To ensures table system operation, the cable clamp method is recommended. Partially peel back thecable sheath to expose the shield. Push the clamp (A99L-0035-0001) over the exposed shield and insertthe clamp hooks into slots on the grounding bar (44B295864-001). Tighten the clamp to secure cable andcomplete the ground connection. The grounding bar must be attached to a low impedance earth ground.

Figure 37. Cable grounding clamp detail

40 (1.57)to

80 (3.15)Cable

CableGroundingClamp

GroundingBar



Figure 38. Command cable shield grounding system

13.9 SELECTING A GROUND FAULT INTERRUPTER

The β Series servo amplifier drives a motor by means of the transistor-based PWM inverter method, inwhich a high-frequency leakage current flows to ground through the stray capacitance of the motorwindings, power cable, and amplifier. A ground fault interrupter or leakage-protection relay, which istypically installed on the power supply side, can malfunction if such a leakage current should flow.Therefore, you should select an inverter-compatible ground fault interrupter with the following ratings toprotect against the occurrence of this malfunction:

β0.5/3000, β2/3000, β6/2000: choose a 1.8 mA commercial frequency component.

αC12/2000: choose a 2.0 mA commercial frequency component.

GE FanucMotion Controller

Grounding Bar(44B295864-001)

Exposed CableShield/Braid

Cable Grounding Clamp(A99L-0035-0001)



Section 14: β Servo System Power RequirementsThis section provides information about AC and DC amplifier power as well as the discharge ofregenerative power.

14.1 POWER LINE PROTECTION

A circuit breaker, electromagnetic contactor, and AC line filter or transformer should be installed as partof your β Series Servo system. GE Fanuc provides the AC line filter as an option. The transformer,circuit breaker, and electromagnetic contactor, however, are user-supplied components. In Europeancountries where power sources are 380 to 400 VAC and neutral grounded, it is necessary to install atransformer or supply single-phase power.

The same incoming AC control components can be used to provide power to multiple amplifiers, as longas the components are rated for the current and power drawn by the sum of all of the amplifiers.

14.2 AC LINE FILTER

An AC line filter is recommended to suppress the influences of high-frequency input line noise on thedrive power supply. When an isolation-type power transformer is used because a power supply voltagewithin the specified range is not available, an AC line filter is not required.

If two or more servo amplifiers are connected to one AC line filter, the total continuous output rating of allconnected servo amplifiers should be kept below the continuous output rating of the AC line filter. Thecontinuous output rating for the various servos are shown below.

Table 36. β Servo Motor Continuous Output Rating

Motor Cont. Output Rating

β0.5/3000 0.2 kW

β2/3000 0.5 kW

β6/2000 0.9 kW

αC12/2000 1.0 kW

If your installation must be EMC compliant, verify that the use of an AC line filter fully satisfies the EMCrequirements. You may need to select and install a user-supplied noise filter in order to meet EMCrequirements.

Two AC line filters are available:

5.4 kW, 3-phase (A81L-0001-0083#3C)

10.5 kW, 3-phase (A81L-0001-0101#C)

For AC line filter specifications and dimension drawings, refer to Section 6.2.



14.3 CIRCUIT BREAKER SELECTION

To provide proper protection for the amplifier, use a circuit breaker rated at no more than 20 Amps (10Afor VDE 1601 compliance for CE marking). Table 37 will help you select the appropriate circuit breakerfor your motion application.

Table 37. Currents Drawn at Continuous Rated Output

Motor Input Current3-phase

Input Currentsingle phase

β0.5/3000 1.9 A (rms) 3.2 A (rms)

β2/3000 3.2 A (rms) 5.1 A (rms)

β6/2000 6.3 A (rms) 10.1 A (rms)

αC12/2000 6.3 A (rms) 10.1 A (rms)

NOTE

When multiple amplifiers are connected to a singlecircuit breaker, select a breaker by multiplying the sumof the currents listed in Table 37 by 0.6.*

Example: Connecting two β6/2000 motors operating on3-phase power:

(6.3 + 6.3) x 0.6 = 7.6 Arms

A standard 10 Amp circuit breaker can be used.

During rapid motor acceleration, a peak current that isthree times the continuous rating flows. Select a circuitbreaker that does not trip when a current that is threetimes the continuous rating flows for two seconds.

*This factor attempts to compensate for applications where all axes are not demanding full pwer at the same time. Inapplications where all axes are running continuously or with high duty cycles, this factor must be increased by 1.

14.4 ELECTROMAGNETIC CONTACTOR RATING

To prepare for incoming AC power, you must also select and install an appropriate electromagneticcontactor, based on the peak currents for the motors in your system. When multiple amplifiers areconnected to a single circuit breaker, select a breaker based on the sum of the currents in Table 37.



14.5 INCOMING AC POWER

Table 38. AC Power


Voltage: 3-phase1-phase*

200 VAC to 240 VAC220 VAC to 240 VAC

Frequency 50 Hz, 60Hz ± 2 Hz

Voltage fluctuation duringacceleration/deceleration

7% or less

* Single-phase operation reduces the lifetime of the servo amplifier. For β6/2000 and αC12/2000 motors with acceleration/decelerationduty cycles greater than once every 20 seconds, 3-phase power is recommended.

14.5.1 AC Power Ratings

The power supply rating required when using multiple servo motors can be determined by summing therequirements of the individual motors.

The power supply ratings listed in Table 39 are sufficient as continuous ratings. Note, however, thatservo motor acceleration causes a current to momentarily flow that is approximately three times thecontinuous current rating.

When the power is turned on, a surge current of about 37A (when 264VAC is applied) flows for 20 msec.

Table 39. Three-Phase Power Supply Ratings

Motor Power Supply Rating

β0.5/3000 0.4kVA

β2/3000 0.77kVA

β6/2000 1.4kVA

αC12/2000 1.6kVA



14.6 INCOMING DC POWER

The amplifier requires a 24 VDC power supply for amplifier control power. This DC power supply must besupplied by the user.

The information in Table 40 below will help you select the appropriate DC power supply for your motionapplication.

The same external DC power supply can be used to provide power to multiple amplifiers as long as thesupply is rated for the sum of power drawn by all of the amplifiers. To daisy chain the amplifiers, addconnection K13 between amplifiers (see the connection diagram in Section 15.3 for more details).

Table 40. DC Amplifier Control Power Specifications


Input voltage 24V DC (±10%)

Power supply rating (per amplifier) 0.4 amps

NOTE

The 24 VDC input is fused to protect the amplifier. The fuse labeled F600is located below the CX11 connector when the amplifier plastic cover isremoved. The replacement fuse part number is A06B-6073-K250(Manufacturer: Daito LM32, DC48V, F3.2A).

A spare fuse is included with each β amplifier package (IC800BPK012 orIC800BPK020)

14.7 DISCHARGING REGENERATIVE ENERGY

Regenerative energy is normally created in applications with a high load inertia or frequent accelerationand deceleration. When decelerating a load, the stored kinetic energy of the load causes generatoraction in the motor causing energy to be returned to the β Series amplifier. For light loads and lowacceleration rates, the amplifier may be able to absorb this energy. Otherwise, an optional externalregenerative discharge unit must be installed.

Two separate 30 Ohm regenerative discharge units are available with ratings of 100 W and 20 W. The100 W unit (A06B-6093-H402) is panel-mounted, whereas the 20 W unit (A06B-6093-H401) mounts tothe tapped holes on the side of the amplifier heat sink. Calculations shown later in this section can beused to determine the need for an external unit.

If the regenerative discharge unit overheats, a built-in thermostat is tripped, the external overheat alarmis issued, and the motor is stopped. If an external regenerative discharge unit is required, a separateunit must be installed for each amplifier. This component cannot be daisy-chained. The dimensions forthese units are shown in the following drawings. Connections are shown for cables K7 and K8 in Section15.3 of this document.



14.7.1 Calculating the Average Regenerative Energy

Use the following calculation to determine the average regenerative energy that will be released in yourapplication (ambient temperature is assumed not to exceed 55°C). Based on the calculations selecteither the 20 W or 100 W regeneration resistor. The wattage rating of the selected resistor must exceedthe average calculated regenerative energy from the equation below:

AverageRegenerative

Energy (Joules)=

Rotational Energy tobe Released during

Deceleration(STEP 1)

–Energy to be

Consumed ThroughAxis Friction

(STEP 2)

+(only in vertical axis operation)Vertical Energy to be Released

During Downward Motion(STEP 3)

STEP 1: Rotational Energy to be Rel eased dur ing Deceleration

= ( ) ( ) 2mLm

4 ω×+×× − JJ1019.6 Joules

where:

Jm Motor rotor inertia

β0.5 = 0.00016β2 = 0.00581β6 = 0.0347αC12 = 0.0555

(lb-in-s2)

JL Load inertia converted to motor shaft inertia (lb-in-s2)


STEP 2: Energy to be Consumed through Axis Friction

= ( ) Lma3 Tt ×××× − ω1091.5 where:


ta Acceleration/deceleration duration during rapid traverse (sec)

TL Axis friction torque (converted to motor shaft torque) (lb-in)

STEP 3: Vertical Energy to be Released Dur ing Downward Motion

(This term applies only in vertical axis operation)

= ( )100

10182.1D

T ×××× −mh

2 ω where:

Th Upward supporting torque applied by the motor duringdownward rapid traverse

(lb-in)


D Duty cycle of downward vertical operation during rapidtraverse

(Note: the maximum value of D is 50%. D assumes asmaller value)

(%)



STEP 4: Determine if a Regenerative Discharge Unit Is Re quired

Determine the Average Regenerative Energy using the equation in the beginning of this section.

When the average regenerative energy produced never exceeds the amounts that is indicated in Table41 below, a separate regenerative discharge unit is not required:

Table 41. Maximum Allowable Regenerative Energy for Amplifiers

Amplifier Max. Allowable Regen. Energy Used with Motors

βSVU-12 13 Joules β0.5, β2

βSVU-20 16 Joules β6, αC12

If the calculated value exceeds the storage capability of the amplifier, then an external regenerativedischarge unit is required (see Step 5).

STEP 5: Selecting a Regen erative Discharge Unit

If a separate regenerative discharge unit is required, the following calculation will determine whether the20 W or 100 W unit is required:

Average Regenerative Power (W) = Average Regenerative Energy (Joules) x F

1 where:

F = Deceleration duty (seconds) Example: deceleration once per 5 second cycle, F=5

Select a regenerative resistor with a rating that exceeds the average regenerative power. If this value isgreater than 100 W, contact GE Fanuc for assistance.

Example:

Assume a horizontal axis using a β2 motor (Jm = 0.00581 lb-in-s2) that decelerates once every 6 seconds(F) for 0.2 seconds (ta) with a maximum speed of 2000 RPM (ωm). The machine inertia (JL) is 0.0139 lb-in-s2.

STEP 1: Rotational Energy = (6.19x10-4)x(0.00581+0.0139)x20002 = 54.4 Joules

STEP 2: Assuming TL = 10 in-lb: Friction Energy = (5.91x10-3)x0.2x2000x10 = 23.64 Joules

Therefore:

STEP 4: Average Regenerative Energy = 54.4–23.64 = 30.76 JoulesBecause the 30.76 Joules required is more than the 13 Joules allowed by the βSVU-12amplifier used with the β2 motor, a regenerative resistor is required.

STEP 5: Since the application requires decelerations every 6 seconds, F

1 =

6

1

Average Regenerative Power = 30.76 Joules/6 seconds = 5.13 WTherefore, the 20 W resistor (A06B-6093-H401) is adequate for this application.



Section 15: β Servo System ConnectionWhen planning your system, it is important to determine how the different parts of the system connecttogether. Cable reference numbers K1 through K15 on the Beta Servo Connection Diagram on p. 90.Details for each connection are shown in Section 15.3.

15.1 SYSTEM CONNECTIONS

β Series motor and amplifier connectors required for the system are available from GE Fanuc.

GE Fanuc supplies connectors in order to allow you to manufacture cables to the specific length requiredby your system design. GE Fanuc does offer finished cables as options for many connections. See theCable Connections chart on p. 88 for more information.

A (Part number A06B-6093-K301) and E-Stop connector (A02B-0120-K321) are shipped with each βSeries servo amplifier package. Kit components are not sold separately. The contents of the connectorkit are described below: .

Table 42. β Connector Kit Contents (A06B-6093-K301)

Qty. Part Number Description

3 A63L-0001-0460/025KD CX11-3 (Ground), CX11-4, -5 (24 VDC) single wide connectors

2 A63L-0001-0460/045KD CX11-1 (Power), CX11-3 (Motor Power) double wide connectors

10 A63L-0001-0456/ASL CX11 contacts

4 A63L-0001-0456/ASM CX11 contacts

1 A660-8011-T604 CX11-6 prewired jumper for discharge resistor thermal switch(must be used when external discharge resistor is not installed)

Optional connectors are also available for the various motor power and feedback cables.

Table 43. Available Motor Power and Feedback Cable Connectors for β Servo Systems

Part Number Description

A06B-6050-K119 Motor Power Connector Kit, β0.5/3000

44A730464-G18 Motor Power Connector Kit, β2/3000 and β6/2000

A06B-6050-K120 Motor Encoder Connector Kit, β0.5/3000

A06B-6050-K115 Motor Encoder Connector Kit, β2/3000 and β6/2000

A06B-6050-K214 β Series Amplifier Encoder Feedback Connector Kit (JF1)

44A730464-G26 Motor Brake Connector Kit (not required for β0.5 motor with brake)

β and α Series Servo Pr oduct Specifications Guide


Table 44. Cable Connections .

Ref. Connects Prefinished Cable Part Number Connection Type When Required

K1 DSM302 to Amplifier (JS1B) IC800CBL001 (1m)IC800CBL002 (3m)

Servo Command Signal

K1 All Other GE FanucControllers to Amplifier(JS1B)

IC800CBL003 (2m) Servo Command Signalalways

K2 Built in Serial Motor Encoderto Amplifier (JF1)

IC800CBL022 severe duty, 14 m (β0.5/3000)

IC800CBL023 severe duty, 14 m (β2/3000, β6/2000)

IC800CBL021 severe duty, 14 m (αC12/2000)

Motor Encoder Feedback always

K3 AC Power Components toAmplifier

N/A 3 Phase Servo Power always

K4 Amplifier to Motor(Prefinished cable includesseparate cable to connectmotor frame ground tocustomer's earth ground.)

IC800CBL064, 14 m (β0.5/3000)IC800CBL065, 14 m (β2/3000,β6/2000)IC800CBL066, 14 m (αC12/2000)

Motor Power always

K5 Servo Amplifier EmergencyStop Input (JX5) to MachineE-Stop Contact

N/A Emergency Stop always

K7 Amplifier to RegenerativeDischarge Unit

N/A (included with regenerativedischarge unit)

Regenerative PowerDischarge

in most cases1

K8 Regenerative Discharge UnitOver Temperature Switch toAmplifier

N/A (included with regenerativedischarge unit)

Regenerative PowerDischarge

in most cases1

K9 Amplifier (CX5) to BackupBattery Holder

N/A Absolute Encoder Battery with battery option2

K10 Control to MCC Coil N/A Emergency Stop/PowerEnable

control-dependent;consult your controldocumentation

K12 External 24 VDC PowerSupply to Amplifier

N/A 24 VDC Amplifier Power always

K13 Amplifier to Second Amplifier N/A 24 VDC Amplifier Power when daisy chainingamplifiers

K14 90 VDC Brake Power Supplyto Motor Brake

44C742238-004. 14m(β2/3000, β6/2000, αC12/2000)

Motor Brake Power with brake option3

K15 MCC Contact to Control N/A Control Enable always

1 See Discharging Regenerative Energy in Section 14.72 Prefinished cable is provided as a part of a battery pack option3 Prefinished motor power cables supplied by GE Fanuc for β 0.5/3000 motor includes brake wiring.



15.2 β SERIES CONNECTION DIAGRAM

JX5

PE

CX

11-1

K3

β S

erie

sA

mpl

ifier

JF1

CX

11-2

CX

11-3

K15

CX

11-5

to C

X11

-4 o

nne

xt a

mpl

ifier

β S

erie

s M

otor

M

Mac

hine

E-S

TO

P P

Ban

d N

CC

onta

cts

PE

Bre

aker

R S T

1T

rans

form

er200/

240

VA

C

1 or

3 P

hase

3

CX

11-4

CX

5YCX

5X

Enc

oder

Bat

tery

Pac

k

JS1B

K1

K2

K4

K9

24

VD

C P

ower

Sup

ply

(24

VD

C +

10%

- 1

0%)

(onl

y fo

r mot

ors

with

290

VD

C P

ower

Sup

ply

brak

e op

tion)

Pow

er S

uppl

y

Spa

rkA

rres

ter

K10

K13

K12

EB

uilt-

in T

herm

osta

tD

isch

arge

Res

isto

r w

ith

CX

11-6

K7 K8

CX

11

GE

Fan

ucM

otio

nC

ontr

olle

r

K14

Gro

und

Lug

Cus

tom

er’s

ea

rth

grou

nd

KEY: available GE Fanuc cable user-supplied cable

Figure 39. Cable connection diagram

1 Line filter and lightning surge absorber can be used in place of a transformer when 200–240 VAC is available to the cabinet.2 Refer to the note in Section 10.3 regarding the motor holding brake.3 For single-phase operation, AC line phase T is not connected. Refer to the Servo System Specifications in Section 11: for output current derating.



15.3 CONNECTION DETAILS

K1— Servo Command Signal Cable ( ββ0.5/3000, ββ2/3000, ββ6/2000, ααC12/2000)

•PWMA (•ALM1)

0V (4)

(3)JS1B–3

–4

•PWMC (•ALM2)

0V (6)

(5)–5

–6

•PWME (•ALM4)

0V (8)

(7)–7

–8

•ENBL (•ALM8)

0V (14)

(13)–13

–14

IR

GDR (2)

(1)–1

–2

IS

GDS (12)

(11)–11

–12

0V

0V (20)

(19)–19

–20

•DRDY

•MCON (10)

(9)–9

–10

PD

•PD (16)

(15)–15

–16

PREQ

•PREQ (18)

(17)–17

–18

β Amplifier Motion Controller(see note)

NOTES

The servo command cables for the DSM300 Series controller(IC800CBL001 and IC800CBL002) must be purchased from GE Fanuc.Proper tooling is required to assemble the connectors. For custom lengthcables, contact your GE Fanuc Distributor or GE Fanuc Sales Engineer.

Grounding the cable shield using the grounding bar (44B295864-001)and cable grounding clamp (A99L-0035-0001) will provide greater noiseimmunity.

Wire: 0.08mm2 twisted pair group shielded cable (10 pairs). The following wire is recommended forthe K1 cable: 28 AWG x 10 pairs (20 conductors).



Cable (K1) GE Fanuc Part No. Connector Manufacturer

DSM302 to ServoAmplifier (JS1B)



Cable must be purchased from GE Fanuc(connectors not sold separately)*

GE Fanuc controllerother than DSM302to Servo Amplifier(JS1B)

IC800CBL003 (2 meter) Hirose Electric Co., Ltd.

1 3 5 7 92 4 6 8 10

1113 15 17 19

12 14 16 18 20


12

34

56

78

910

11

1213

1415

1617

1819

20


*NOTE: DSM302 cables cannot be customer-manufactured and uses a 36-pin connector on its end. The DSM302 module requiresIC693ACC355 Axis Terminal Board and either IC693CBL324 (1 meter) or IC693CBL325 (3 meter) Terminal Board Cable to access axisI/O such as Home Switch Input, Over Travel Inputs, or Strobe (registration) Inputs.



K2—Motor Encoder Feedback Cable ( ββ0.5/3000)

SD

•SD (B4)

(A4)JF1–1

JF1–2

REQ

•REQ (B3)

(A3)JF1–5

JF1–6

+5V

0V

JF1–9, –18

JF1–12, –14

0VA

+6VA (A5)

(A6)JF1–16

JF1–7

Shield (B6)

β Amplifier β Motor Encoder

(A1, B1)

(A2, B2)

Prefinished 14m Cable, Part number: IC800CBL022

Wire: for +5V, 0V use two parallel conductors of 0.5mm2 (20 AWG) or larger when the wire lengthdoes not exceed 14m. When the wire length exceeds 14m, wire gauge must be increased to ensurethat the sum of the electrical resistance of 0V and 5V circuit does not exceed 0.5 ohms. For 6VA,0VA use 0.5mm2 (20 AWG) or larger; for SD, *SD, REQ, *REQ use 0.18mm2 (24 AWG) or largertwisted pair with 60% braid shield.



A06B-0120-K301 Hirose Electric Co., Ltd. (connector:FI40-2015S)(connector cover: F1-20-CV)

1 3 5 7 92 4 6 8 10

12 14 16 18 20

Connector viewed from back (solder/crimp) side.

Servo MotorEncoder

A06B-6050-K120 SMP (connector: 178289-6 pin: AMP 1-175217-2)

1 3 52 4 6

A

B



K2—Motor Encoder Feedback Cable ( ββ2/3000, ββ6/2000)

SD

•SD (13)

(12)JF1–1

JF1–2

REQ

•REQ (6)

(5)JF1–5

JF1–6

+5V

0V

JF1–18, –20

JF1–12, –14

0VA

+6VA (14)

(10)JF1–16

JF1–7

Shield (4)


(1, 2)

(8, 15)





A06B-0120-K303 Hirose Electric Co., Ltd.(connector: FI40-2015S)(connector cover: FI-20-CV)

1 3 5 7 92 4 6 8 10

12 14 16 18 20

Servo MotorEncoder

A06B-6050-K115 Hirose Electric Co., Ltd.(HDAB-15S) [connectorcover: HDAW-15-CV(waterproof), HAD-CTH]

6 4 3 1

13 12 11 10 91415

8 257


NOTE

Cable includes two M4 x 12mm screws and captive lock washers forsecuring connector to motor encoder housing.



K2—Motor Encoder Feedback Cable ( ααC12/2000)

SD

•SD (D)

(A)JF1–1

JF1–2

REQ

•REQ (G)

(F)JF1–5

JF1–6

+5V

0V

JF1–18, –20

JF1–12, –14

0VA

+6VA (R)

(S)JF1–16

JF1–7

Shield (H)


(N, T)

(J, K)

Prefinished 14m Cable, Part number:IC800CBL021 (severe duty)




A02B-0120-K303 Hirose Electric Co., Ltd. (F140-2015S) [connectorcover: FI-20-CV]

1 3 5 7 92 4 6 8 10

12 14 16 18 20

Connector viewed from back (solder/crimp side).

Servo MotorEncoder

44A730464-G24(CE EXT GND pintype)

Hirose Electric Co., Ltd. (MS3106A 20-29SW,straight) (MS3108B 20-29SW, elbow)

AB

C

D

E

FG

H

J

K

LM

NP

RS

T



K3—Three-Phase Servo Power Cable (user-supplied)

For a power supply voltage of 200/220/230/240 VAC 50/60 Hz (220 VAC minimum for single-phase)

R

S

T*

G

Breaker MCC AC LineFilter

CX11-1

β Amplifier

Main Power Supply

(L1)

(L2)

(L3)

( )

* For single-phase operation, phase T is not connected

Wire: 600V, 4-conductor, 1.0mm2 (18 AWG) or larger. For sourcing multiple amplifiers from thesame AC supply, size conductors based on the sum of the current for all amplifiers (seespecifications in Section 11:


Servo AmplifierCX11-1

Part of KitA06B-6093-K301

Nihon AMP (175363-1, 175363-1 Housing; 1-175218-2 Contact)



K4—Motor AC Power Cable ( ββ0.5/3000)

OptionalBrake

CX11-3 (U) U A1

CX11-3 (V) V A2

CX11-3 (W) W A3

PE B1CX11-3 (PE)

β Amplifier β Motor

Motor Frame Ground

BRK1 B2

CX11-3 (PE) BRK2 B3

BRK1

BRK2To Brake 90 VDC

Power Supply & Control(supplied by customer)

(M3.5 Spring SpadeTerminals)

(M4 Ring Terminal)

1 m ground cable tocustomer’s earth ground

Motor Stator


Wire: 300V, 6-conductor, 20 AWG (finestrand) 80°C, polyurethane jacket with PVC conductors(nominal cross-sectional area 0.75mm2). Ground wire is 18 AWG, 300 V, 1-conductor, 80°C, PVC,green with yellow stripe.


Servo AmplifierCX11-3 (motorpower)


Nihon AMP (Housing: 175363-1; Contact: 1-175217-2)

U W

V G

Servo AmplifierCX11-3 (ground)



PE

Servo Motor A06B-6050-K119 Nihon AMP (Housing: 3-178129-6; Contact: 1-175217-2)

U PE

V BRK1

W BRK2

Pin 1

Pin 2

Pin 3

A B



K4—Motor AC Power Cable ( ββ2/3000, ββ6/2000)

CX11-3 (U) U A

CX11-3 (V) V B

CX11-3 (W) W C

G DCX11-3 (G)


Motor Frame Ground

PECX11-3 (PE)

(M4 Ring Terminal)


Motor Stator


Wire: 300V, 4-conductor, 18 AWG (finestrand) 80°C, polyurethane jacket (PUR) with PVCconductors (nominal cross-sectional area 0.75mm2). Ground wire is 18 AWG, 300 V, 1-conductor,80°C, PVC, green with yellow stripe.


Servo AmplifierCX11-3 (motorpower)



U W

V G

Servo AmplifierCX11-3 (ground)



PE

PE

Servo Motor Customer-made cable:44A730464-G18(CE EXT GND pin)

D

C

A

B



K4—Motor AC Power Cable ( ααC12/2000)

CX11-3 (U) U A

CX11-3 (V) V B

CX11-3 (W) W C

G DCX11-3 (G)


Motor Frame Ground

PECX11-3 (PE)

(M4 Ring Terminal)


Motor Stator

Prefinished 14m Cable, Part number: IC800CBL066

Wire: 300V, 4-conductor, 18 AWG (finestrand) 80°C, polyurethane jacket with PVC conductors(nominal sectional area 0.75mm2). Ground wire is 18 AWG, 300 V, 1-conductor, 80°C, PVC, greenwith yellow stripe.


Servo AmplifierCX11-3 (motor power)


Nihon AMP (Housing: 175363-1; Contact:1-175218-2)

U W

V G

Servo Amplifier CX11-3 (ground)


Nihon AMP (Housing: 175362-1; Contact:1-175218-2)

PE

PE

Servo Motor Customer-made cable:44A730464-G20(CE EXT GND pin)

D

C

A

B



K5—Servo Amplifier Emergency Stop Connection

If two to six amplifier units are used in the same system, the emergency stop signal must be connectedas shown below:

JX5(20)

(17)

SVU

JX5(20)

(17)

SVU

JX5(20)

(17)

SVU

Emergency Stopdry contact

(normally closed)+24V

ESP

ESP

ESP

β Series ServoAmplifier




Manufacturer

JX5 A02B-0120-K301 Hirose Electric Co., Ltd. (F140-2015S; F1-20-CVcover)

1 3 5 7 92 4 6 8 10

1113 15 17 19

12 14 16 18 20

Honda Tsushin Kogyo Co., Ltd. (PCR-E20FA)

12

34

56

78

910

11

1213

1415

1617

1819

20


CAUTION

Pin 20 of JX5supplies +24 VDC.

Do not apply externalvoltage to this

terminal.



K7—Regenerative Power Discharge Cable ( ββ2/3000, ββ6/2000, ααC12/2000)K8—Regenerative Power Discharge Thermal Protection Cable

(Resistor includes amplifier connectors and contacts)

CX11-2 (DCP)

CX11-2 (DCC)

β Amplifier Regenerative Discharge Unit

CX11-6 (TH1)

CX11-6 (TH2)

K7

K8

30 ohmResistor

Normally Closed OverTemperature Switch

150(5.91)

57 (2.24)

100(3.94)

52(2.05)

60(2.36)

10 Max(.394)

7(.276)

2- ∅ 4.5 (0.177)

ToCX11-2

ToCX11-6

65 (2.56)

A06B-6093-H401(20 Watt unit)

DCP

DCC

TH1TH2

200 (7.9)220 (8.7)230 (9.1)

6 (0.236)

10004.3

42.7(1.68)

60

1.2 20

∅4 (0.157)

(39.4)(0.169)

(2.36)

(0.047) (0.787)

K7

K8

K7

CX11-2 (DCC)

CX11-2 (DCP)

CX11-6 (TH1)CX11-6 (TH2)

A06B-6093-H402(100 Watt Unit)

Customer mustattach connectors

dimensions shown in mm (inches)

NOTEResistor kit

contains twostandoffs and

mountinghardware




Servo AmplifierCX11-2, -6



DCC

DCP

TH2

TH1

K9—Absolute Encoder Battery Cable ( ββ0.5/3000, ββ2/3000, ββ6/2000, ααC12/2000) )

CX5X, CX5Y (1)

β Amplifier Battery Unit

CX5X, CX5Y (2)

+6V

0V

Wire: Nominal sectional area 0.32mm2 (24 AWG) or less


Manufacturer

Servo Amplifier(CX5X)

A06B-6093-K303 Japan Aviation Electronics Industry (Housing: IL-L2S-S3L-B(N); Contact: IL-C2-1-00001)



K10—Emergency Stop/Power Enable Cable ( ββ0.5/3000, ββ2/3000, ββ6/2000, ααC12/2000)

N.C.Isolated Contact

External Power Supply(to be matched to the

customer’s contactor coil voltage)

Spark Arrester

E-Stop PushbuttonAC LineContactor

(MCC)

E-Stop Push Button

Coil

Cable Specification: Heavy-duty vinyl power cord, 2-conductor 0.5mm2 (20 AWG)

Spark Arrester: To protect internal contacts, always use a spark arrester appropriate for thecontactor you select.

K12—24 VDC Amplifier Power Cable ( ββ0.5/3000, ββ2/3000, ββ6/2000, ααC12/2000)

+24V

0V

CX11-4 (24V)

CX11-4 (0V)

Customer-supplied 24 VDCPower Supply β Amplifier

Wire: Nominal sectional area 1.42mm2 (16 AWG)–0.5mm2 (20 AWG)


DC Power Supply N/A N/A






K13—24 VDC Amplifier Power Daisy Chain Cable ( ββ0.5/3000, ββ2/3000, ββ6/2000,ααC12/2000)

CX11-5 (24V)

CX11-5 (0V)

CX11-4 (24V)

CX11-4 (0V)

Wire: Nominal sectional area 1.42mm2 (16 AWG)–0.5mm2 (20 AWG)


DC Power Supply N/A N/A




K14—Motor Brake Power Cable ( ββ2/3000, ββ6/2000, ααC12/2000)

(β0.5/3000 brake wiring is include in power cable K4)

Customer-supplied90 VDC brakepower supply

A

B

+

–

C

Optional Motor Brake

BBrake Coil(Energizeto release)

Ground


Wire: 300V, 3-conductor, 20 AWG (0.5mm2), finestrand, 80 °C, polyurethane (PUR) jacket


Motor Brake Customer-madecable:44A730464-G26GE Fanuc cable:44A739012-G08

DDK CE Series (CE02-6A10SL-3CS) with RaychemBoot (222A-32-25142)

C A

B



15.4 β SERIES AMPLIFIER PROTECTION AND ALARM FUNCTIONS

The Servo Amplifier Unit can detect error conditions and provide alarm information.

The LEDs on the front of the amplifier provide a visual cue to the status of the system by indicating, forexample, when the motor and amplifier are ready to function. The ALM LED is turned ON when analarm condition is detected. When an alarm is detected, power is dropped and the motor is stopped bydynamic braking action. Alarm information is displayed as diagnostic data in the GE Fanuc controller.Table 45 details the alarm conditions the β Series Servo Amplifier System can detect.

Table 45. β Series Servo Amplifier Alarm System

Alarm Condition Description

Over-voltage Issued when the DC voltage in the main circuit power supply is abnormally high.

DC link under-voltage

Issued when the DC voltage in the main circuit power supply is abnormally lowor when the circuit breaker has tripped.

Regenerativeoverheat

Issued when the average regenerative discharge energy is excessively high,such as when acceleration/deceleration is performed too frequently.

Overheat Issued when the temperature inside the amplifier becomes so high that thethermostat trips.

Fan failure Issued when the fan unit built into the amplifier fails.

Over-current Issued when an abnormally high current is detected in the main circuit.


107

AAbsolute Encoder Battery, 13, 70AC line filter, 82AC power, 32, 35, 82, 84Alarm Functions, 59, 105Alpha Servo System

Block Diagram, 5Overview, 1Package Options, 11

Alpha Servo system specifications, 10Alpha SVU Series, 5Alpha SVU1 Amplifier Connections, 43Amplifier Control Power, 85Amplifier Package, Alpha Series, 9Amplifiers, 1

Alarm Functions, 24, 59, 77, 105Alpha heat dissipation, 15Beta heat dissipation, 72Connector Kit, 88

Alpha Series, 44Beta Series, 88

Environmental Requirements, 14, 71Maintenance Clearances, 72Models, 9, 67

Axial Load, 24, 77

BBattery Packs, Encoder, 13Battery, Packs Encoder, 70Bearing, 24, 77Beta Servo System

Block Diagram, 63Overview, 1Package Options, 69Specifications, 68

Block diagram, 5, 63Brake, 12

Alpha Series motor, 8Beta Series motor, 66

Brake Power Supply, 8

CCable Connections

Alpha Series, 45Cables, Alpha Series

K10-Emergency Stop/Power Enable Cable, 56K11-Separate Regenerative Discharge Unit Fan Supply

Cable, 57K12-Motor Brake Power Connection, 57K13-Cooling Fan Power Connection, 58K1-Servo Command Signal Cable, 47K2-Motor Encoder Feedback Cable, 49

K3-Three-Phase Servo Power Cable, 50K4-Motor Power Cable (α12/3000, α 22/2000), 50K4-Motor Power Cable (α30/3000, α 40/2000), 52K4-Motor Power Cable (α30/3000, α40/2000), 51K5-Amplifier Stop Connection, 53K6-Amplifier Control Power Connection, 53K7-Separate Regenerative Discharge Unit Power Cable,

54K8-Separate Regenerative Discharge Unit Thermal

Protection Cable, 54K9-Optional Absolute Encoder Battery Cable, 55

Cables, Beta SeriesK10-Emergency-Stop/Power Enable Cable, 103K12-24 VDC Amplifier Power Cable, 103K13-24 VDC Power Daisy Chain Cable, 104K14-Motor Brake Power Cable, 104K1-Servo Command Signal Cable, 91K2-Motor Encoder Feedback Cable (β0.5/3000), 93K2-Motor Encoder Feedback Cable (β2/3000,

β6/2000), 94K3-Three-Phase Servo Power Cable, 96K4-Motor AC Power Cable (β2/3000, β6/2000), 98K4-Motor Power Cable (β0.5/3000), 97K4-Motor Power Cable (αC 12/2000), 99K5-Emergency Stop Connection, 100K7-Regenerative Discharge Cable, 101K8-Regenerative Discharge Thermal Protection Cable,

101K9-Absolute Encoder Battery Cable, 102Motor Encoder Feedback Cable (αC12/2000, 95

Cables, connectionDetails, 47, 91

Catalog NumbersAlpha Series, 9Beta Series, 67

Circuit breaker, 34, 83Clearances

Amplifier, 15, 72Connection

Details, 47, 91Connectors

Alpha Series Motors, 44Beta Series Motors, 88

Contactor rating, 34, 83Control Power, 35

DDC power, 85Dimensions

AC Line Filters, 33Alpha Series amplifier Panel cutouts, 25Alpha Series amplifiers, 25Alpha Series Regenerative D.U., 40Beta Series amplifier, 78Discharge Resistor, 41


108

Motor, 65Discharging regenerative energy, 36, 85Dissipation

Amplifier, 15, 72

EEncoder

Battery, 13, 70Environmental requirements

Alpha amplifiers, 14Alpha Series, 14Beta amplifiers, 71Beta Series, 71Motors, 14, 71

FFeedback, 44

GGround fault interrupter


GroundingAlpha Series, 29Beta Series, 79

Grounding Clamp, 30

HHeat dissipation


High Response Vector function, 7, 65

IInstallation Guidelines, 14, 71International Standards, 1

LLine Filter, 32, 82

MMaintenance Clearances, 72Motor Dimensions

β0.5/3000, 73α12/3000, 18β2/3000, 74β2/3000 w/brake, 76α22/3000, 18α30/3000, 18α40/2000, 21

β6/2000, 74β6/2000 w/brake, 76α6/3000, 16αC12/2000, 74αC12/2000 w/brake, 76

Motor Power, 44Motors, 1, 12

Beta Series, 65Brake, 8, 12, 66Environmental Requirements, 14, 71Speed-Torque Curves

HRV function, 7, 65

NNoise Protection


OOptional Connectors, 44Options


Overview, 1, 6, 64

PPackage Options, 11, 69Part Numbers


Power Line Protection, 32, 82Power requirements

AC power, 35, 84Alpha Series, 32Alpha Series Circuit Breakers, 34Alpha Series Discharging Regenerative Energy, 36Alpha Series Electromagnetic Contactor, 34Alpha Series Incoming AC Power, 32Beta Series, 82Beta Series AC Power, 82Beta Series Circuit Breakers, 83Beta Series Discharging Regenerative Energy, 85Beta Series Electromagnetic Contactor, 83Incoming DC Power, 85

ProtectionAlpha Series, 59Beta Series, 105

Pulse Width Modulated interface, 1

RRadial Load, 24, 77Regenerative Discharge Units



109

Regenerative Energy, 36, 85Regenerative Energy, Calculating for Alpha Series, 36Regenerative Energy, Calculating for Beta Series, 86

SSealing Option, 12Servo Motors, 1, 65Servo package options, 11, 69Shaft Loading


SpecificationsAlpha Series, 10Beta Series, 68

Speed-Torque curvesAlpha Series, 7Beta Series, 65

Standards, 1Switch Settings, 28

TTransformer, 32, 82

ge fanuc automation fanuc powermotion ® α and β series servo reliability the α and β series...

Documents